Parameterization of a biomechanical collision model for safe human‐robot collaboration

• Published in: Proceedings in applied mathematics and mechanics Vol. 24; no. 3
• Main Authors: Leinert, Emmely, Behrens, Roland, Woschke, Elmar
• Format: Journal Article
• Language: English
• Published: 01.10.2024
• DOI: 10.1002/pamm.202400029
• ISSN: 1617-7061

The Fraunhofer IFF has developed a patented model (Fast Response Model = FRM) for safe Human‐Robot Collaboration (HRC), enabling the calculation of reaction forces in the event of a collision between a contact body of any shape and a selected human body part. This paper specifically focuses on adapting the model for five selected body locations on the hand‐arm system. A comparative analysis is conducted, contrasting the results obtained from the FRM with those derived from existing finite element reference models to assess the plausibility of the model's system response. Additionally, computational times of the model are compared with those of established models for simulation‐based risk evaluation of robot collisions. The model's quality is validated using a validation geometry. Results indicate that depending on the selected body part, end effector geometry, and given displacement, similar results to a finite element model can be obtained. However, simulations with the FRM are less time‐consuming. In the future, the data‐driven model could be transformed into a real‐time model using machine learning techniques.