Human-Robot Interaction: Safety, Standardization, And Benchmarking

223 Pages·2019·12.203 MB·English

by  Paolo Barattini, Federico Vicentini

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
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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
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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 proj-
ect, 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 prod-
ucts 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
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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 addi-
tion, he has had commercial experience as Technical Director at InnotecUK, where he led
ix