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Preliminary experimental results for neck injury in mobile robot-human constrained-collision |
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SooYong Yun, Jong-Hyeok Park, Ho-Yeon Kim, Kwan-Woong Gwak(Sejong University, Korea) |
| Following the increased use of mobile robots in the field, the injury problem caused by the collision between human and the mobile robot has become an issue of growing importance in the society. Neck injury is considered as one of the major injury mode in collision-induced injury. Hence in this paper, AIS of the neck injury was predicted using the index of neck injury on collision through the mobile robot-dummy collision tests. |
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Assessment of chest injury in unconstraint frontal collision between human-mobile robot using CTI and VC index: Preliminary results by MADYMO simulation |
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Jong-hyeok Park, SooYong Yun, Ho-Yeon Kim, Seungbin Moon, Kwan-Woong Gwak(Sejong University, Korea) |
| Chest injury during unconstrained frontal collision between human and mobile robot is investigated using computer simulation with MADYMO. To assess the chest injury, Combined Thoracic Index (CTI) and Viscous Criteria(VC) was computed. Computed CTI and VC were converted into AIS level by which injury level was evaluated. |
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Pressure ulcer breakout time estimation model in association with wearable robot use : first analysis |
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Chang-Hwan Lee, Kwan-Woong Gwak(Sejong university, Korea) |
| Interaction between wearable robot and the user may cause skin injury, especially the pressure ulcers
due to sustained pressure at the connection site. In this study, relationship between pressure ulcer breakout time and applied pressure which is the major cause of pressure ulcer is modeled using human experimental data. The model is proposed to be used to limit the wearable robot use time depending on the applied pressure so that pressure ulcer breakout can be prevented. |
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Human Injury Estimation Approach for Human-Robot Collision Safety |
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Sungsoo Rhim(KyungHee University, Korea), Heonseop Shin(MidasIT, Korea), Junewon Seo, Jin-Hwan Choi(KyungHee University, Korea) |
| This paper is to describe a mathematical methodology for the human injury estimation related to the dynamic contact. A human model and a robot model are developed and a method to calculate the contact force between them is introduced. The effectiveness of the mathematical approach is proven by the comparison to the experimental results and the approach is expanded to estimation injury level based on ISO/TS15066. |
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Experimental Study to Determine Quasi-Static Constitutive Parameters of the Pig-skin for Robot Collision Safety Estimation |
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Sanghoon Kim, Junewon Seo, Junsuk Choi, Sungsoo Rhim(KyungHee University, Korea) |
| In this work, uniaxial tensile tests were performed on the skin of the minipig which is considered to have human-skin-like property to investigate the tensile stress-strain curve at quasi-static deformation. The specimens for the tests were taken from the abdomen part of the White Yucatan Minipig. The test results were used to determine the parameters related to the various types of constitutive models for rubber: the models of Mooney-Rivlin, Yeoh, Ogden, and so on. |
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