Double safety measure for human symbiotic manipulator

Summary form only given. This paper describes a design methodology for a human symbiotic manipulator which mainly focuses on guarantee of human safety and abilities of human-robot collaboration. Safety design parameters relate to manipulator cover materials, motion controls, collision statements, and safety indices. As a safety design methodology it is proposed that one select and use a viscoelastic material based on its peak force and deceleration effects; reduce the manipulator motion velocity when certain indices cannot be satisfied; and provide for emergency stops for cooperative work velocities of 1.0 m/s and passive compliance control for lower velocities. An actual safety cover is developed and attached to a 7-DOF force controlled manipulator.