Table Of Content

Contents Contents Human–Robot Interaction Safety, Standardization, and Benchmarking Human–Robot Interaction Safety, Standardization, and Benchmarking Edited by Paolo Barattini, Federico Vicentini, Gurvinder Singh Virk, and Tamás Haidegger MATLAB® and Simulink® are trademarks of the MathWorks, Inc. and are used with permission. The MathWorks does not war- rant the accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB® and Simulink® software or related products does not constitute endorsement or sponsorship by the MathWorks of a particular pedagogical approach or particular use of the MATLAB® and Simulink® software. CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2019 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Printed on acid-free paper International Standard Book Number-13: 978-1-138-62675-1 (Hardback) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. 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Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Library of Congress Cataloging‑in‑Publication Data Names: Barattini, Paolo, editor. Title: Human-robot interaction : safety, standardization, and benchmarking / [edited by] Paolo Barattini, Federico Vicentini, Gurvinder Singh Virk, Tamás Haidegger. Other titles: Human-robot interaction (Taylor & Francis : 2019) Description: Boca Raton, FL : CRC Press/Taylor & Francis Group, [2019] | Includes bibliographical references and index. Identifiers: LCCN 2018060976| ISBN 9781138626751 (hardback : acid-free paper) | ISBN 9781315213781 (ebook) Subjects: LCSH: Human-robot interaction. Classification: LCC TJ211.49 .H8658 2019 | DDC 629.8/924019--dc23 LC record available at https://lccn.loc.gov/2018060976 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com Contents Preface, vii Editor Bios, ix Contributors, xiii Chapter 1 ◾ The Role of Standardization in Technical Regulations 1 andré pirlet, ir Chapter 2 ◾ The Intricate Relationships Between Private Standards and Public Policymaking in Personal Care Robots: Who Cares More? 9 eduard FosCh-Villaronga and angelo Jr golia Chapter 3 ◾ Standard Ontologies and HRI 19 sandro rama Fiorini, abdelghani Chibani, tamás haidegger, Joel luis Carbonera, Craig sChlenoFF, JaCek maleC, edson prestes, paulo gonçalVes, s. Veera ragaVan, howard li, hirenkumar nakawala, stephen balakirsky, soFiane bouznad, noauel ayari, and yaCine amirat Chapter 4 ◾ Robot Modularity for Service Robots 49 hong seong park and gurVinder singh Virk Chapter 5 ◾ Human–Robot Shared Workspace in Aerospace Factories 71 gilbert tang and phil webb Chapter 6 ◾ Workspace Sharing in Mobile Manipulation 81 José saenz Chapter 7 ◾ On Rehabilitation Robotics Safety, Benchmarking, and Standards: Safety of Robots in the Field of Neurorehabilitation—Context and Developments 91 Jan F. Veneman v vi ◾ Contents Chapter 8 ◾ A Practical Appraisal of ISO 13482 as a Reference for an Orphan Robot Category 103 paolo barattini Chapter 9 ◾ Safety of Medical Robots, Regulation, and Standards 123 kiyoyuki Chinzei Chapter 10 ◾ The Other End of Human–Robot Interaction: Models for Safe and Efficient Tool–Tissue Interactions 137 árpád takáCs, imre J. rudas, and tamás haidegger Chapter 11 ◾ Passive Bilateral Teleoperation with Safety Considerations 171 márton l o˝ rinCz Chapter 12 ◾ Human–Robot Interfaces in Autonomous Surgical Robots 187 paolo Fiorini and riCCardo muradore INDEX, 201 Preface Preface Preface Standardisation and safety are horizontal topics set across any application domain of robotics. A few years ago, I was involved for the first time in an industrial robotics project. The project, among other relevant technical themes, investigated ergonomics and safety. Sometime thereafter, I participated in the ISO robotics working groups meeting held in Milan. This occasioned the establishment of personal friendships with some of the participants. Some of the Europeans soon met again at the venues of the euRobotics Association. This is quite a dynamic environment, self-organised in topical groups created spontaneously by the associates on specific areas of interest or domains. Sometimes, they vanish and new ones emerge. Standardisation and safety are horizontal topics set across any application domain of robotics. My initial idea of creating a topic group on standardisation reflected the interest of an initial bunch of colleagues, among them the editors of this book. The topic group was launched. It grew immediately to over 70 members. One of the authors, at the time the youngest member, in his late 20s, is now a leading expert in robotics’ legal and regulatory matters. Some others quit the quiet of the academy to dive deep into the practical application of the standards in companies developing products for the market. We created multiple occasions for debate, while each member in their domain was prof- iting from discussions, workshops, and technical and cultural exchanges. This book origi- nates from the idea of presenting to a wider audience a condensed look at the current issues and outputs of technical experience and developments in safety and standardisation in robotics, issuing from the network of international experts from the ISO Working Groups and the euRobotics Association. The book sports an Aristotelian set-up, the initial chapters being those of wider general matter, with the final ones being more technical and specific. It pretends to be a small, but dense, representation of safety and standardisation issues by some of their dedicated actors. Paolo Barattini Kontor46 s.a.s. Turin, Italy vii viii ◾ Preface MATLAB® is a registered trademark of The MathWorks, Inc. For product information, please contact: The MathWorks, Inc. 3 Apple Hill Drive Natick, MA 01760-2098 USA Tel: 508-647-7000 Fax: 508-647-7001 E-mail: [email protected] Web: www.mathworks.com Editor Bios Paolo Barattini, MD, PhD is an expert in ergonomics, safety, and physical and virtual interfaces. He has worked on sundry European Space Agency contracts and European Commission FP7 and H2020 funded projects. The focus of his activity is the creation of new devices on a solid scientific innovative basis in the area of robotic biomedical devices. He has served as Coordinator of the Topical Group on Robotics Standards of euRobotics, the European robotics association, currently acting as Deputy. Federico Vicentini, MSc, PhD in mechanical systems engineering, is a National Research Council of Italy researcher at the Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing and Group Leader for “Robot Safety and Human–Robot Interaction” in the Robotics Division, Milan, Italy. His research and technology interests range from industrial robotics to automation safety, with special focus on human–robot interaction and collaborative behaviors. He is currently serving as coordinator of the Italian national standardization group “Robots and Robot Systems” and as member of the international standardization group ISO TC299/WG3 “Industrial Robot Safety”. He is also active in euRobotics and partner of SPARC PPP, with regards to industrial robotics, safety, and standards. He is a regular system archi- tect or principal investigator in international research programs, and regular contributor for scholarly publications and reviews in robotics journals and conferences. Professor Gurvinder Singh Virk, PhD, DIC, BSc, CEng, FIET, FCIBSE, CMath, FIMA, MIEEE is Chairman and CEO of Endoenergy Systems, focused on developing wearable assistive exoskeletons in service applications involving close human–robot interactions, with bases in the UK and in India. His current research interests are in wearable exoskel- eton robots for wellbeing, robot safety standardisation, robot modularity and inter-opera- bility, social robotics, and robot ethics. In addition to his industrial position at Endoenergy, he is visiting professor at London South Bank University, UK. He holds a PhD in control theory from Imperial College, University of London, UK. He has held senior leadership roles in the UK (Universities of Bradford, Portsmouth, and Leeds), Sweden (University of Gävle and KTH Royal Institute of Technology), and New Zealand (Massey University), as well as visiting professor positions in China (Zhejiang University), France (Université Pierre et Marie Curie, Paris), and Germany (Fachochschule Südwestfalen, Soest). In addition, he has had commercial experience as Technical Director at InnotecUK, where he led ix