COVR

The purpose of this protocol is to validate the safety skill “maintain safe distance” by measurement. Its scope is limited to Highly Automated Agricultural Machines (HAAM). In this context, the skill “maintain safe distance” is often used to protect workers from injuries caused by collisions where the HAAM collides with a part of the human. The protocol validates that the stopping distance is never exceeded in a HAAM system when using a safety skill that detect objects and triggers a stop. The validation of this protocol requires that the reader has a distance measuring system available.

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement. Its scope is limited to robot arms operating in the domain Manufacturing. In this context, the skill “limit interaction energy” is often used to protect workers from injuries caused by robot collisions where the robot hits a part of the human body that can freely move. The validation of this protocol requires that the reader has a bio-fidel force and pressure measurement device available. The instrument must allow for measuring the highest pressure during the collision.

The specific purpose of this protocol is to validate the safety skill “limit interaction energy” by measurement. Its scope is limited to robot arms operating in the domain Manufacturing. In this context, the skill “limit inter-action energy” is often used to protect workers from injuries caused by robot collisions where the robot traps a part of the human body against a fixed obstacle. The validation of this protocol requires that the reader has a bio-fidel force and pressure measurement device available. The instrument must allow for measuring the highest pressure during the collision.

This protocol is to be used to test the restraining energy that can be applied to a human subject during use of an exoskeleton used for gait support using an instrumented limb used in the medical domain as well as at . This protocol is both aimed at exoskeletons exoskeletons used in the industrial, logistics or agricultural domain Readiness Level Description .

The purpose of this protocol is to validate the safety skill “maintain safe distance” for hand-guided robots, eventually equipped with tracking technologies and collision avoidance controllers, where a limb of a subject has a free connection point with the robot and the robot can move that point within a 3D volume while preventing collision with the operator’s limbs. The minimum distance between robot internal links and subject limbs during operation must be ensured. This is validated using an instrumented limb attached to the robot end effector and a sensor system mounted on the robot.

The purpose of this protocol is to validate suitability of 3D sensors, particularly LiDAR scanners, for improving the skill “Maintain Safe Distance” in advanced Speed and Separation Monitoring (SSM) cobot applications . Besides the sensors’ technical characteristics, the data processing, and decision-making abilities of an associated intelligent control system (ICS) are the subject of validation. Such ICS periodically acquires of a COBOT and an operator, eventually predicts their positions in a the positions near future, and adjusts the COBOT’s velocity to keep their mutual distance above the accordingly updated protective separation distance (PSD). The validation test checks with assistance of a high-speed high-resolution camera whether the ICS implements the SSM functionality successfully to prevent collisions between the robot and the operator in a systematically chosen repertoire of collaborative situations identified as potentially hazardous in the risk assessment. This protocol was developed in the COVR funded FSTP project “CobotSense” by FOKUS TECH, the Maribor, and FANUC ADRIA, and was published as a deliverable for that project.

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.

This protocol can be used to validate the weight support level for Weight Support Systems used in the healthcare domain, where the amount of weight support can be varied by a therapist according to the need for the therapy of a subject .