Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction
Thomas Steinecker,Alexander Kurdas,Nico Mansfeld,Mazin Hamad,Robin Jeanne Kirschner,Saeed Abdolshah,Sami Haddadin,Thomas Steinecker,Alexander Kurdas,Nico Mansfeld,Mazin Hamad,Robin Jeanne Kirschner,Saeed Abdolshah,Sami Haddadin
In physical human-robot interaction (pHRI), safety is a key requirement. As collisions between humans and robots can generally not be avoided, it must be ensured that the human is not harmed. The robot reflected mass, the contact geometry, and the relative velocity between human and robot are the parameters that have the most significant influence on human injury severity during a collision. The r...
