Double safety measure for human symbiotic manipulator

The design methodology for a human symbiotic manipulator which guarantee human safety and the ability for human-robot collaboration are described. The safety design parameters are classified into four categories: manipulator cover materials; motion controls; collision statements; and safety indices. Physical models of shock absorption covers, generalized conditions of human-robot collision, and severity indices for producing moderate injury are presented. Human-robot collisions are simulated through a combination of these parameters and the effects of each parameter on safety are arranged. By using the methodology, an actual safety cover is developed and attached to a seven degrees-of-freedom force controlled manipulator.