Abstract of Special Research Report (SRR-No.36)
National Institute of Occupational Safety and Health, Japan
Research on Fundamental Safety Technologies for Man-machine Cooperative Working Systems (Final Report)
|Hiroyasu IKEDA and Shigeo UMEZAKI|
: Rapid introduction of new type robots, such as collaborative or mobile robots, to the industrial environment is anticipated, but the diffusion of these robots is difficult under the present condition. The reason is that conventional protective measures like fences cannot be applied and moreover new types of measures instead of fences do not have been developed for practical application. On the other hand, hazardous human operations required approaching machines without stopping the machine movable parts still remain and are difficult to prevent industrial
accidents by applying conventional protective measures. These operations, such as maintenance, trouble-shooting, adjustment, etc., are called "hazardous point nearby operations" which are considered one of the forms of "man-machine cooperative working systems".
Development of a Normally Closed Type of Clutch Using Magnetorheological Suspension for Safe Torque Control of Human-Collaborative Robot
|Tsuyoshi SAITO and Hiroyasu IKEDA|
: Recently, a new type robot sharing work space with persons has been under research and development for use in carrying heavy objects not only in factories but also at outdoor working site sand in welfare facilities. Since the general purpose of this robot is to substitute for conventional carriage supporting equipment, a working mode in which a human and a robot carry a heavy object together in a coordinated manner is being widely studied.
Research on Object Detection Method of Man-Machine Coexistence System and Normality Confirmation Method for Image Sensor
: The aim of this research is to develop a device to protect persons from possible collisions with machines in environments where machines move around working persons and where conventional protective measures for fixed machines such as guards are not applicable. Emphasis is placed on the development of an object detection method for image analysis with the aid of a computer and video cameras. This type of device is usually called a vision-based protective device (VBPD).
Proposal of Communication Method of Mobile Robots by Recognizing Gestures —Design Methods Dedicated to Reduce the Misrecognition Risk—
|Jian LU and Wei JIANG|
: As the robot technology advances, in stead of keyboards and control panels, which were previously used as the main communication method with a robot, new communication methods which uses voice recognition and gesture recognition are expected to become common as the robot will work cooperatively with human being and will be widely involved in people's daily life. That is to say, robot will act according to instructions from these kinds of interfaces, therefore the interest of our research is focused on risk assessment and risk reduction related to these new interfaces while they are used for robot control, to assure robot safety. Particularly in our research here, the type of the new interface is restricted to gesture recognition, and the research focus is on reducing the gesture misrecognition. As the first step for assessing and evaluating the different design selections according to the misrecognitionrisk for gestures, two models were established in the previous stage of our research. The first model was a three dimensional
(3D) model for quantitatively expressing gestures, and second model was a quantity analysis model, called gesture distance model (GDM), to measure the difference between different gestures. The examples of applying these models with the average body-size data in the Japanese Body-size Database were given, and the basic data about standard gesture features of average body-size for Japanese people were also obtained. These results were reported previously in the reference1). In addition, the applications of these results to reduce misrecognition were briefly discussed there.
The Basic Consideration on Accident Prevention Strategy of the Hazardous Point Nearby Operation—Clarification of Accident Prevention Conditions and the Application to Wood Cutting Machines—
|Shoken SHIMIZU and Shigeo UMEZAKI|
: It is a common knowledge for safety engineers to perform machine safe measures based on the risk reduction process described in ISO12100. Its process consists of the "Inherently safe design measure", "safeguarding" and other supplemental countermeasures. However, there are many "hazardous point nearby operations", such as the operation of process confirmation, adjustment, preparing, troubleshooting,maintenance, inspection, repairing, cleaning of the machine etc.. It is very difficult to apply above-mentioned safe measures for these operations because operators are close to machine moving parts without stopping it.
|Shigeo UMEZAKI and Hiroyasu IKEDA|
: This specific research proposed new fundamental safety technologies for man-machine cooperative working systems. Results obtained from this research are summarized as follows.