手首装着IMUと予測安全モデルによる人間の腕動作のリアルタイム安全評価
Real-Time Safety Evaluation of Human Arm Operations Using a Wrist-Mounted IMU with PSM System
手首に装着したIMUとバネ-ダンパ-質量モデルに基づく予測安全モデルを組み合わせ、人間とロボットの協調作業における腕動作の安全性をリアルタイムに評価する手法を提案し、3種類の製造タスクで検証した。
著者: Musab Zubair Inamdar, Alhusain Al Hadrami, Seyed Amir Tafrishi
分類: cs.RO
原文アブストラクト
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The proposed system extends previous PSM implementations through the adaptation of a spring-damper-mass model specifically optimized for wrist motions, employing probabilistic safety assessment through impedance-based computations. We analyze our proposed impedance-based safety approach with frequency domain methods, establishing quantitative safety thresholds through comprehensive comparative analysis. Experimental validation across three manufacturing tasks - tool manipulation, visual inspection, and pick-and-place operations. Results show robust performance across diverse manufacturing scenarios while maintaining computational efficiency through optimized parameter selection. This work establishes a foundation for future developments in adaptive risk assessment in real-time for human-robot collaborative manufacturing environments.
