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CEN/WS COVR Safety in Close Human-Robot Interaction: Procedures For

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CEN/WS COVR Safety in Close Human-Robot Interaction: Procedures For CEN WORKSHOP AGREEMENT Date: 2021 - 06 - 01 CWA XXXXX: 2021 Secretariat: UNI Safety in close human-robot interaction: procedures for validation tests ICS: CCMC will prepare and attach the official title page. CWA XXXX:2021 (E) Contents Page 1 European foreword ............................................................................................................................................ 3 2 Introduction .......................................................................................................................................................... 4 3 1 Scope .......................................................................................................................................................... 5 4 2 Normative references .......................................................................................................................... 5 5 3 Terms and definitions ......................................................................................................................... 6 6 4 Robot categories and general concepts of safety-related processes .................................. 8 7 4.1 Robot categorization ........................................................................................................................... 8 8 4.2 Robots under Machinery Directive ................................................................................................ 9 9 4.2.1 Industrial robots ................................................................................................................................... 9 10 4.2.2 Service robots ....................................................................................................................................... 10 11 4.2.3 Personal care robots .......................................................................................................................... 10 12 4.3 Medical robots ..................................................................................................................................... 11 13 4.4 Transversal “System-level” safety validation ........................................................................... 12 14 5 Cross-category safety skills ............................................................................................................. 14 15 5.1 An example: Limit Range of Movement....................................................................................... 14 16 5.2 Safety skills for CHRI .......................................................................................................................... 16 17 5.2.1 Limit Physical Interaction Energy ................................................................................................ 16 18 5.2.2 Maintain Safe Distance ...................................................................................................................... 16 19 5.2.3 Dynamic Stability ................................................................................................................................ 16 20 5.2.4 Limit Range of Movement ................................................................................................................ 17 21 5.2.5 Maintain Proper Alignment ............................................................................................................ 17 22 5.2.6 Limit Restraining Energy ................................................................................................................. 17 23 6 System-Level Validation Protocols ............................................................................................... 17 24 6.1 SLVP identification ............................................................................................................................. 18 25 6.2 Contents of a SLVP .............................................................................................................................. 19 26 6.3 SLVP examples ..................................................................................................................................... 20 27 Annex A (informative)- Safety perspectives in modern robotics .................................................... 21 28 Annex B (informative) - List of test methods provided by standards ........................................... 23 29 Annex C - System-level validation protocol template .......................................................................... 24 30 Annex D - SLVP example: Test mobile platform to maintain a separation distance ................. 27 31 Annex E - SLVP example: Test manipulator in shared human-robot control to prevent spatial 32 overreaching for the subject ........................................................................................................... 41 33 Bibliography ....................................................................................................................................................... 53 2 CWA XXXX:2021 (E) 34 European foreword 35 This CEN Workshop Agreement has been developed in accordance with the CEN-CENELEC Guide 29 36 “CEN/CENELEC Workshop Agreements – A rapid prototyping to standardization” and with the relevant 37 provisions of CEN/CENELEC Internal Regulations - Part 2. It was approved by a Workshop of 38 representatives of interested parties on YYYY-MM-DD, the constitution of which was supported by CEN 39 following the public call for participation made on YYYY-MM-DD. However, this Workshop 40 Agreement does not necessarily include all relevant stakeholders. 41 The final text of this CEN Workshop Agreement was provided to CEN for publication on YYYY-MM-DD. 42 Results incorporated in this CWA received funding from the European Union’s Horizon 2020 43 research and innovation programme under grant agreement No 779966. 44 45 The following organizations and individuals developed and approved this CEN Workshop 46 Agreement: 47 48 name organization/individual 49 50 name organization/individual 51 52 …. 53 54 55 Although the Workshop parties have made every effort to ensure the reliability and accuracy of technical 56 and non- technical descriptions, the Workshop is not able to guarantee, explicitly or implicitly, the 57 correctness of this document. Anyone who applies this CEN Workshop Agreement shall be aware that 58 neither the Workshop, nor CEN, can be held liable for damages or losses of any kind whatsoever. The 59 use of this CEN Workshop Agreement does not relieve users of their responsibility for their own 60 actions, and they apply this document at their own risk. The CEN Workshop Agreement should not be 61 construed as legal advice authoritatively endorsed by CEN/CENELEC. 62 3 CWA XXXX:2021 (E) 63 Introduction 64 The traditional concept of industrial robots refers to bulky machines, where robot workspace is 65 physically separated from the utilizer work environment. The concept of collaborative applications 66 reached the industrial domain and was elevated to one of the key-enabling technologies of the Industry 67 4.0 paradigm. Similar approaches can be nowadays applied to a wide variety of other machines, designed 68 to work closely with humans. 69 At the same time, we are witnessing increasing implementation of service robots in several domains, such 70 as rehabilitation, personal care, agriculture and logistics. Medical equipment and systems based on 71 robotic technologies are more and more implemented in current medical practice and rehabilitation and 72 assistance robots in particular have become relevant, as aging populations are increasingly affected by 73 chronic disabilities. 74 As consequences, human-robot interaction is becoming closer in industrial practice and, on the other 75 hand, the unstructured - and often close - human-robot interaction characterizing service robots is 76 becoming increasingly relevant as these machines spread in the different application fields. 77 In general, robot systems and applications characterized by close human-robot interaction (such as 78 collaborative applications in industrial robotics or rehabilitation robots in medical applications) are 79 accompanied by new challenges from the safety perspective (i.e. the potential - or intended - contact 80 between human and robot introduces a higher exposure to mechanical hazards). In such cases, the 81 assessment of safety can be highly complex and variable, depending on the specific implementation 82 scenario and the safety-related measures implemented. The new safety-related challenges need to be 83 properly addressed and validated. 84 According to robot categorization, standards provide different means to deal with safety assessment in 85 human-robot interaction, and several test methods are being recommended in the last few years, 86 characterized by different levels of detail and belonging to different robot categories. Considering the 87 common challenges characterizing close human-robot interaction for various domains, the objective of 88 this CWA is to provide a framework for compiling testing procedures for the validation of the residual 89 risks related to the mechanical hazards arising in close human-robot interaction, by using a transversal 90 approach based on standard and well-established best practices. The following stakeholders can benefit 91 from this CWA: 92 - for industrial robots: integrators or users when defining the specific application to implement a 93 robot or a robotic device; 94 - for the medical robotics field: manufacturers, for the
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