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Modeling of low severity soft-tissue injury due to unwanted collisions of a robot in collaborative settings is an important aspect to be treated in safe physical Human-Robot Interaction (pHRI). Up to now, safety evaluations for pHRI were mainly conducted by using safety criteria related with impact forces and head accelerations. These indicate severe injury in the robotics context and leave out low...
In recent years, the potential for collision between humans and robots has drawn much attention since service robots are increasingly being used in the human environment. A safe robot arm can be achieved using either an active or passive compliance method. A passive compliance system composed of purely mechanical elements often provides faster and more reliable responses to dynamic collision than...
Collision safety between humans and robots has drawn much attention since service robots are increasingly being used in human environments. A safe robot arm based on passive compliance can usually provide faster and more reliable responses for dynamic collision than an active one involving sensors and actuators. Since both positioning accuracy and collision safety of the robot arm are equally important,...
Collision safety between humans and robots has drawn much attention because service robots are increasingly being used in human environments. The design of a service robot usually requires reliable collision analysis based on appropriate safety criterion. Previous safety criteria are too restrictive or generous with respect to collision injury. This paper proposes a new safety criterion for physical...
Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise...
In recent years, collision safety between a human and a robot has drawn much attention as service robots and humanoids are increasingly being used in the human environment. Safety of a robot arm can be achieved by either active or passive compliance system. Since active compliance systems with actuators are usually slow and expensive, several passive compliance systems with purely mechanical elements...
In recent years, collision safety has been one of the most important issues for service robots. To ensure collision safety assurance, a passive compliance method is preferred to an active one because it can provide faster and more reliable responses to dynamic collision. Since both positioning accuracy and collision safety are equally important, a robot arm should have very low stiffness when subjected...
A safe robot arm can be achieved by either passive or active compliance. The passive compliance systems composed of purely mechanical elements often provide faster and more reliable responses for dynamic collision than the active ones involving sensors and actuators. Since both positioning accuracy and collision safety are important, a robot arm should exhibit very low stiffness when subjected to...
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