Standard

The purpose of the protocol is to validate the safety skill “limit range of movement” for an angular motion of a single joint of an exoskeleton or a restrained-type rehabilitation robot. The range of motion is measured using an electro-goniometer.

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement. The skill “limit interaction energy” protects bystanders from injuries caused by collision with the exoskeleton. This protocol is therefore not focusing on the safety of the person attached to the exoskeleton but rather of persons in close proximity of the exoskeleton. For the execution of this protocol it is required that the reader has a bio-fidelic force and pressure measurement device available.

This protocol describes a method for validating the safety skill “Maintain proper alignment” for joint axis alignment (both translational as well as rotational) for exoskeleton type rehabilitation robots as well as exoskeleton type robots used in other domains. This protocol uses an instrumented artificial limb, by which the joint angles, contact forces as well as the forces and torques in the joint can be determined, to validate the skill.

The purpose of this protocol is to validate the safety skill Limit Restraining Energy for a robotic device acting on a single human joint along one degree of freedom. In this document the safety skill protects the user of a robotic device from excessive torques applied to a joint. The validation experiment is performed using a 1D force sensor and a testing frame placed around the robotic device. The torque generated by the robotic device is derived from the measured force. This protocol is based on a safety test protocol developed in the COVR funded FSTP project SAFEharbor, by Amsterdam VUMC, TU Delft and LUMC and was published as Deliverable D1.4 for that project.

The purpose of this protocol is to test the skill “dynamic stability” of (mobile) weight support systems (with gait following function) type RACA robots* by measurement. Its scope is limited to weight support systems in indoor applications. In this context, the objective is to protect users and bystanders from injuries caused by tilting of the weight support system. The validation of this protocol requires that the reader has access to an inclinometer, a winch and a suitable 1D force sensor for tension force measurements.

ISO 12100:2010 specifies basic terminology, principles and a methodology for achieving safety in the design of machinery. It specifies principles of risk assessment and risk reduction to help designers in achieving this objective. These principles are based on knowledge and experience of the design, use, incidents, accidents and risks associated with machinery. Procedures are described for identifying hazards and estimating and evaluating risks during relevant phases of the machine life cycle, and for the elimination of hazards or sufficient risk reduction. Guidance is given on the documentation and verification of the risk assessment and risk reduction process.ISO 12100:2010 is also intended to be used as a basis for the preparation of type-B or type-C safety standards.It does not deal with risk and/or damage to domestic animals, property or the environment.

ISO/TR 20218-2:2017 is applicable to robot systems for manual load/unload applications in which a hazard zone is safeguarded by preventing access to it. For this type of application, it is important to consider the need for both access restrictions to hazard zones and for ergonomically suitable work places.ISO/TR 20218-2:2017 supplements ISO 10218-2:2011 and provides additional information and guidance on reducing the risk of intrusion into the hazard zones in the design and safeguarding of manual load/unload installations.

ISO 9409-2:2002 defines the main dimensions, designation and marking for a shaft with cylindrical projection as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors.ISO 9409-2:2002 does not contain any correlation of load-carrying ranges.The mechanical interfaces specified in ISO 9409-2:2002 will also find application in simple handling systems which are not covered by the definition of manipulating industrial robots, such as pick-and-place or master-slave units.

ISO 14539 is one of a series of standards dealing with the requirements of manipulating industrial robots. Other documents cover such topics as terminology, general characteristics, coordinate systems, performance criteria and related test methods, safety, mechanical interfaces and graphical user interfaces for programming

This document provides guidance on safety measures for the design and integration of end-effectors used for robot systems. The integration includes the following:— the manufacturing, design and integration of end-effectors. — the necessary information for use.This document provides additional safety guidance on the integration of robot systems, as described in ISO 10218‑2:2011.