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Ryuji Sugiura,Tatsuo Fujikawa,Rie Nishikata,Tetsuya Nishimoto 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
To obtain information on the mechanical tolerance of soft tissue bruise injury caused by dynamic contact between human body parts and a robot, impact tests were conducted using anesthetized live pigs. A falling-weight impact tester was used to conduct tests on the chest and extremities by varying the mass and dropping height of the impactor. The subcutaneous tissues of the impacted parts were sampled, and internal bleeding, as a sign of bruising, was pathologically observed. The minimum value of transferred energy per unit area, categorized as a mechanical tolerance value for bruising, was found to be significantly smaller in the extremities as compared to the chest owing to structural differences between the two parts. These structural differences should be carefully considered for safe robot designs.
Tatsuo Fujikawa,Ryuji Sugiura,Rie Nishikata,Tetsuya Nishimoto 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
The peak mean contact pressure and the total transferred energy are discussed as the dominant parameters of bruise tolerance by blunt impact in order to obtain safety criteria for robot design in human-robot interaction. Impact tests are conducted using live pigs with the permission of the ethical committee. A 25 mm-diameter cylindrical impactor is used to represent moving parts of robots. Samples of soft tissue are stained, and capillary damages are investigated by microscopy. The results show that there is no capillary damage if the peak mean contact pressure is less than 1.3 MPa and the total transferred energy is less than 87 kJ/m2. The probability of injury as a function of these parameters is obtained using logistic regression of the the experiment results.