Intelligent monitoring-based safety system of massage robot  

作　　者：胡宁 李长胜 王利峰 胡磊 徐晓军 邹雲鹏 胡玥 沈晨 

机构地区：[1]School of Automation Science and Electrical Engineering, Beihang University [2]School of Mechanical Engineering and Automation, Beihang University [3]School of Mechanical and Electrical Engineering, Harbin Engineering University

出　　处：《Journal of Central South University》2016年第10期2647-2658,共12页中南大学学报（英文版）

基　　金：Projects(2012AA041601,2015AA0400614)supported by the Hi-Tech Research and Development Program of China;Project(2012BAI14B02)supported by the National Key Technology R&D Program of China;Project(61333019)supported by the National Natural Science Foundation of China;Project(SKLRS-2013-MS-09)supported by the Open Fund of State Key laboratory of Robotics and System,China;Project(YWF-14-JXXY-001)supported by the Scientific Research Business Fund,China;Project(2014ZX04013011)supported by the National Science and Technology Major Project of the Ministry of Science and Technology of China

摘　　要：As an important attribute of robots, safety is involved in each link of the full life cycle of robots, including the design, manufacturing, operation and maintenance. The present study on robot safety is a systematic project. Traditionally, robot safety is defined as follows: robots should not collide with humans, or robots should not harm humans when they collide. Based on this definition of robot safety, researchers have proposed ex ante and ex post safety standards and safety strategies and used the risk index and risk level as the evaluation indexes for safety methods. A massage robot realizes its massage therapy function through applying a rhythmic force on the massage object. Therefore, the traditional definition of safety, safety strategies, and safety realization methods cannot satisfy the function and safety requirements of massage robots. Based on the descriptions of the environment of massage robots and the tasks of massage robots, the present study analyzes the safety requirements of massage robots; analyzes the potential safety dangers of massage robots using the fault tree tool; proposes an error monitoring-based intelligent safety system for massage robots through monitoring and evaluating potential safety danger states, as well as decision making based on potential safety danger states; and verifies the feasibility of the intelligent safety system through an experiment.As an important attribute of robots, safety is involved in each link of the full life cycle of robots, including the design, manufacturing, operation and maintenance. The present study on robot safety is a systematic project. Traditionally, robot safety is defined as follows： robots should not collide with humans, or robots should not harm humans when they collide. Based on this definition of robot safety, researchers have proposed ex ante and ex post safety standards and safety strategies and used the risk index and risk level as the evaluation indexes for safety methods. A massage robot realizes its massage therapy function through applying a rhythmic force on the massage object. Therefore, the traditional definition of safety, safety strategies, and safety realization methods cannot satisfy the function and safety requirements of massage robots. Based on the descriptions of the environment of massage robots and the tasks of massage robots, the present study analyzes the safety requirements of massage robots; analyzes the potential safety dangers of massage robots using the fault tree tool; proposes an error monitoring-based intelligent safety system for massage robots through monitoring and evaluating potential safety danger states, as well as decision making based on potential safety danger states; and verifies the feasibility of the intelligent safety system through an experiment.

关 键 词：ROBOT fault tree safety strategies for robots intelligent safety 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]