Evaluation of contact between a human hand and a robot end tip for designing a dummy

Abstract

In the field of robot-human collaboration, while safety verification data are already provided in ISO/TS 15066 as informative data, a testing method for validation is not established. In our study, we design the dummy hand the mechanical property of which is close to that of human to propose the testing method using the dummy. In order to design such dummy, we estimate human physical parameters by conducting dynamic experiment in which three points in each hand of the subjects were clamped as demonstrating the worst case of impacting a hand as the first step. For conducting dynamic experiment, we design impact force measurement device in consideration of safety enough. As a result, we measure transition of impact force, and estimate human physical parameters under various conditions.