Role of Link Flexibility and Variable Stiffness Actuator on Collision Safety for Service Robots

摘要

The use of robots that share their workspace with humans in cooperative tasks, involves new risks for human safety. To ensure safety of the user, flexible robots and variable stiffness actuators are growing in interest. In this paper, a dynamic model of the collision between a 1 degree of freedom robot arm and a human head is presented. This model incorporates the many times neglected link and gear transmission flexibility. The contribution of the link flexibility and the variable stiffness actuator to human safety and to robot joint protection is evaluated. The head injury criterion and fracture force of cranial bones have been used as safety criteria for the human head.