Human-Robot Interaction: Safety, Standardization, And Benchmarking

Cover......Page 1
Half Title......Page 2
Title Page......Page 4
Copyright Page......Page 5
Contents......Page 6
Preface......Page 8
Editor Bios......Page 10
Contributors......Page 14
1.1 Standardization: The Main Characteristics, the Benefits of Standardization, and the Choice of the Best Procedure......Page 16
1.2 Improving a Given Situation through Project Approaches and Implementation......Page 18
1.3 The Context of Technical Legislation......Page 20
References......Page 22
2.1 Introduction......Page 24
2.2.1 The Concepts of “Standard” and “Standardization”......Page 25
2.2.2 Differences Between Standard-Setting and Lawmaking......Page 26
2.3.1 Personal Care Robots’ Private Setting......Page 27
2.3.2 Public Policymaking for Robots......Page 29
2.4 Hybrid Model Proposal......Page 30
2.5 Conclusions......Page 31
References......Page 32
Sandro Rama Fiorini, Abdelghani Chibani, 
Tamás Haidegger, Joel Luis Carbonera, Craig Schlenoff, 
Jacek Malec, Edson Prestes, Paulo Gonçalves, 
S. Veera Ragavan, Howard Li, Hirenkumar Nakawala, 
Stephen Balakirsky, Sofiane Bouznad, Noauel Ayari, 
and Yaci......Page 34
3.1 Introduction......Page 35
3.2 What is an Ontology and Why is it Useful......Page 36
3.2.1 Process of Ontology Development......Page 37
3.3 Overview of the IEEE Effort on Robot Ontologies......Page 38
3.4.1 Preliminaries: SUMO......Page 40
3.4.2 CORA: The Core Ontology for R&A......Page 42
3.4.3 CORAX: CORA Extended......Page 43
3.4.4 RPARTS: The Parts Ontology......Page 44
3.4.5 The POS Ontology......Page 46
3.5.1 CORA as Part of a Robotic Skill Ontology......Page 48
3.5.2 The Cargo Delivery Scenario......Page 50
3.5.3 Cora as Part of a Surgical Robot Ontology......Page 51
3.6.1 The Autonomous Robotics Study Group......Page 53
3.6.2 Robot Task Representation Effort......Page 54
3.7 Conclusion and Discussion: Towards an Ontology for HRI......Page 57
References......Page 59
Hong Seong Park and Gurvinder Singh Virk......Page 64
4.1 General Requirements of Robot Modularity......Page 67
4.2 Module Safety......Page 70
4.3 Hardware Module......Page 77
4.4 Software Module......Page 80
4.5 Summary......Page 84
References......Page 85
5.1 Introduction......Page 86
5.2 Drivers for Human–Robot Collaboration in Aerospace Manufacturing......Page 87
5.3.1 Limitations of Robots......Page 88
5.3.3 Working Environment......Page 89
5.4 Recognising and Defining Different Types of Collaborative Activities......Page 90
5.5.1 Case Study: GKN Aerospace’s Fokker Business......Page 91
5.5.3 Case Study: Boeing 777 Fuselage Automated Upright Build......Page 92
5.6 Concluding Remarks......Page 93
References......Page 94
6.1 What are Mobile Manipulators?......Page 96
6.3 Motivation for Mobile Manipulators......Page 97
6.4 Starting Point: Risk Analysis......Page 98
6.4.3 Processes Involving Contact (Manipulator and/or Tool in Contact with a Part)......Page 99
6.5.1 Simple Mobile Manipulation: Only Platform Motion......Page 100
6.6 Safety Sensors......Page 101
6.8 Conclusion......Page 102
references......Page 103
7.1 Introduction......Page 106
7.2 Safety, Product Certification, and Standards......Page 107
7.3 Rehabilitation Robots......Page 108
7.4 General Background on Safety for Medical Devices......Page 109
7.4.1 Product Standards......Page 111
7.4.3 Installation and Environmental Standards......Page 112
7.4.6 Medical Electrical Equipment......Page 113
7.5 Development of a New Standard for RACA Robots......Page 115
References......Page 117
Paolo Barattini......Page 118
8.1 Introduction......Page 119
8.2 Using the ISO 13482......Page 120
8.3 The Hazards Identification, Risk Evaluation and Safety Assessment......Page 121
8.5.2 Assumed Environmental Conditions......Page 124
8.5.5 The Definition of Failure Modes to Be Used in the Robotised Scrubber’s FMECA......Page 125
8.5.7 Definition of the Criticality and Ranking approach......Page 126
8.5.12 Hazard Analysis and Risk Assessment Specific Activities......Page 127
8.5.13.1 Details About “Orange” Level Hazards......Page 129
8.7 Rendition, Practical Commentary and Conclusions......Page 134
Kiyoyuki Chinzei......Page 138
9.2 Regulation of Medical Devices......Page 139
9.2.3 Global Harmonization......Page 140
9.2.5 The Essential Principles......Page 141
9.3.1 Definition of a Medical Robot......Page 142
9.3.3 Safety Requirements and Standards......Page 143
9.4 Particular Standards for Medical Robots......Page 144
9.5.1 Scope and Key Definitions......Page 145
9.5.2 Safety Requirements and Relaxation......Page 146
9.6.1 Scope and Key Definitions......Page 147
9.7 Future of Medical Robot Safety......Page 148
9.7.1 What Is Autonomy?......Page 149
9.7.2 Assessing the Degree of Autonomy......Page 150
References......Page 151
10.1 Introduction......Page 152
10.2 Types of Tool–Tissue Interaction......Page 154
10.3 Review of Control Aspects of Tool–Tissue Interactions......Page 158
10.4 Haptic Feedback in Telesurgery......Page 160
10.5 Soft Tissue Models......Page 162
10.6.1 Mass–Spring–Damper Models......Page 164
10.6.2 Data Collection Methods......Page 168
10.6.3 Indentation Tests......Page 169
10.6.4 The Proposed Nonlinear Mass–Spring–Damper Model......Page 173
10.7 Results......Page 175
10.7.1 Model Verification Methods......Page 176
10.7.2 Model Verification Results......Page 178
10.8 Usability of the Proposed Model......Page 179
References......Page 180
11.1 Introduction......Page 186
11.1.1 Safety Considerations During Human–Robot Interaction and Its Implications on Telerobotics......Page 188
11.2 Bilateral Teleoperation: Basic Notions......Page 189
11.3 Passivity Controller–Passivity Observer Design......Page 190
11.4.2 Passivity Controllers......Page 193
11.4.3 Transparency with Rate-Limited Signals......Page 195
11.5.1 Experimental Measurements with the Proposed Bilateral Teleoperation Control Method......Page 197
References......Page 199
12.1 Introduction......Page 202
12.3 HRI During the Pre-Intervention Phase......Page 206
12.4 HRI During the Intervention Execution......Page 210
12.5 Conclusions......Page 212
References......Page 213
Index ......Page 216