Biomechanically Safe Velocity Controller for Human-Robot Interaction

In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.