论文标题
ISO/TS 15066：不同的解释如何影响风险评估
ISO/TS 15066: How Different Interpretations Affect Risk Assessment
论文作者
论文摘要
当前的技术规范ISO/TS15066：2016（e）用于安全的人类机器人互动包含逻辑上冲突的人与机器人之间的联系的定义。这可能会导致对接触分类的不同解释，因此无法预期独特的结果，甚至可能对人类造成风险。在以前的工作中，我们展示了第一组含义。本文解决了风险评估的各种解释，涉及碰撞方案的可能解释。通过包括四个可商购机器人系统的实验，我们证明了TS的不同解释后的风险评估程序。结果表明可能不正确使用技术规范，我们认为这需要在将来的修订中解决。为此，我们建议使用决策树和约束碰撞力图的形式的工具，这使HRI进行了简单，明确的风险评估。
The current technical specification ISO/TS15066:2016(E) for safe human-robot interaction contains logically conflicting definitions for the contact between human and robot. This may result in different interpretations for the contact classification and thus no unique outcome can be expected, which may even cause a risk to the human. In previous work, we showed a first set of implications. This paper addresses the possible interpretations of a collision scenario as a result of the varying interpretations for a risk assessment. With an experiment including four commercially available robot systems we demonstrate the procedure of the risk assessment following the different interpretations of the TS. The results indicate possible incorrect use of the technical specification, which we believe needs to be resolved in future revisions. For this, we suggest tools in form of a decision tree and constrained collision force maps, which enable a simple, unambiguous risk assessment for HRI.
