Abstract
In this paper, we proposed the soft skin design method of the human symbiotic robot arm which realizes the collision safety, assuming worst collision case including out-of-control mode of robot. Estimating the collision safety at the each position of robot arm, this method reduces the redundant safety, and so realizes the light and small shape.First using the HIC (Head Injury Criteria) and injury risk curve which are driven in the automotive safety, we set the safety criteria for human symbiotic robot. Next, we arrange the impact parameters which are conditions in the human-robot collision, and describe the important parameters to realize the light and small shape. Finally, citing human symbiotic robot "TWENDY-ONE" as the example, we apply the proposed method to TWENDY-ONE, and confirm the effectiveness in the shape and weight.
