Skip to main content
SpringerLink
Log in

Intelligent monitoring-based safety system of massage robot

  • Mechanical Engineering, Control Science and Information Engineering
  • Published:
Journal of Central South University Aims and scope Submit manuscript

Abstract

As an important attribute of robots, safety is involved in each link of the full life cycle of robots, including the design, manufacturing, operation and maintenance. The present study on robot safety is a systematic project. Traditionally, robot safety is defined as follows: robots should not collide with humans, or robots should not harm humans when they collide. Based on this definition of robot safety, researchers have proposed ex ante and ex post safety standards and safety strategies and used the risk index and risk level as the evaluation indexes for safety methods. A massage robot realizes its massage therapy function through applying a rhythmic force on the massage object. Therefore, the traditional definition of safety, safety strategies, and safety realization methods cannot satisfy the function and safety requirements of massage robots. Based on the descriptions of the environment of massage robots and the tasks of massage robots, the present study analyzes the safety requirements of massage robots; analyzes the potential safety dangers of massage robots using the fault tree tool; proposes an error monitoring-based intelligent safety system for massage robots through monitoring and evaluating potential safety danger states, as well as decision making based on potential safety danger states; and verifies the feasibility of the intelligent safety system through an experiment.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. WU Hai-bin, YANG Jian-ming. Progress in robot safety research during human-robot interaction [J]. China Safety Science Journal, 2011, 21(11): 79–86. (in Chinese)

    Google Scholar 

  2. HU Zheng. Review of robotic safety engineering [J]. China Mechanical Engineering, 2004, 15(4): 370–375. (in Chinese)

    Google Scholar 

  3. AUGUSTSSON S, CHRISTIERNIN L G, BOLMSJ G. Human and robot interaction based on safety zones in a shared work environment [C]// HRI '14: Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction. New York, NY: ACM; Piscataway, NJ: IEEE, 2014: 118–119.

    Chapter  Google Scholar 

  4. WANG Ke-yi, ZHANG Li-xun. Driving properties of plane wire-driven robot [J]. Journal of Central South University, 2013, 20(1): 56–61.

    Article  Google Scholar 

  5. ZOU Yu-peng, ZHANG Li-xun, MA Hui-zi, QIN Tao. Hybrid force control of astronaut rehabilitative training robot under active loading mode [J]. Journal of Central South University, 2014, 21(11): 4121–4132.

    Article  Google Scholar 

  6. SANDERS M, BRODT P, WENTWORTH R. Safety in the industrial robot environment [C]// University Programs in Computer-Aided Engineering, Design, and Manufacturing. Reston, Virginia: ASCE, 1989:190–197.

    Google Scholar 

  7. HADDADIN S, ALBU-SCHAFFER A, STROHMAYR M. Injury evaluation of human-robot impacts [C]// Robotics and Automation, ICRA 2008. Piscataway, NJ: IEEE, 2008: 2203–2204.

    Chapter  Google Scholar 

  8. KIM H, KIM I, CHO C, SON J. Safe joint module for safe robot arm based on passive and active compliance method [J]. Mechatronics, 2012, 22(7): 1023–1030.

    Article  Google Scholar 

  9. PARMIGGIANI A, RANDAZZO M, NATALE L, METTA G. Analternative approach to robot safety [C]// Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on. Piscataway, NJ: IEEE, 2014: 484–489.

    Chapter  Google Scholar 

  10. LI Jing, MA Yuan-sheng, LIANG Fang-hua. Analysis on quoted standards in industrial products manufacture licenses implementation rules [J]. Standard Science, 2014(5): 34–37.

    Google Scholar 

  11. FRYMAN J. Updating the industrial robot safety standard [C]// ISR/Robotik 2014; 41st International Symposium on Robotics; Proceedings of VDE. Piscataway, NJ: IEEE, 2014: 1–4.

    Google Scholar 

  12. CHEN Sheng-jun. Research on some basic problems concerning our space robot’ srsm [J]. ROBOT, 2002, 24(5): 471–474. (in Chinese)

    Google Scholar 

  13. SHU S. An universal heuristic method for solving the redundancy optimization problems [J]. Acta Automatica Sinica, 2000, 26(5): 74–76.

    MathSciNet  Google Scholar 

  14. Shu Song-jia. A precision method for optimizing the reliability of a redundant control system and its application [C]// IEEE International Conference on Systems Engineering. Piscataway, NJ: IEEE, 2000: 123–125.

    Google Scholar 

  15. HU Lei, LIU Wen-yong, XU Ying, WAGN Yu. Functional redundancy-based safety strategies for orthopaedic robots [J]. Chinese High Technology Letters, 2006, 16(10): 1019–1024. (in Chinese)

    Google Scholar 

  16. SHU Song-jia. The synthesis of the most reliable control systems [J]. Acta Automatica Sinica, 1980, 6(1): 8–9.

    MathSciNet  Google Scholar 

  17. LAIBLE U, BÜRGER T, PRITSCHOW G. A fail-safe dual channel robot control for surgery applications [J]. Safety Science, 2001, 2187(5): 75–85.

    MATH  Google Scholar 

  18. BICCHI A, TONIETTI G. Fast and" soft-arm" tactics [robot arm design] [J]. Robotics & Automation Magazine, 2004, 11(2): 22–33.

    Article  Google Scholar 

  19. ZINN O, SALISBURT J. A new actuation approach for human friendly robot design [J]. The International Journal of Robotics Research. 2003, 23: 379–398.

    Article  Google Scholar 

  20. CHENG Y, ZHU Z L, GAO J L. A compensator design for system integrity against actuator failure [J]. Acta Automatica Sinica, 1990, 16(4): 297–301.

    MATH  Google Scholar 

  21. MOTAMED C, SCHMITT. A vision based safety device for uncontrolled robotic environments [C]// Systems Engineering in the Service of Humans, International Conference on. Piscataway, NJ: IEEE, 1993: 528–533.

    Google Scholar 

  22. ABDALLAH A, MOTAMED C, SCHMITT A. Change detection for human safety in robotic environments [C]// SPIE's 1994 International Symposium on Optics, Imaging, and Instrumentation. International Society for Optics and Brussels, Belgium: Photonics, 1994: 357–361.

    Google Scholar 

  23. STENTZ A, HEBERT M. A complete navigation system for goal acquisition in unknown environments [J]. Autonomous Robots, 1995, 2: 127–145.

    Article  Google Scholar 

  24. LÓPEZ-MARTÍNEZ J, GARCÍA-VALLEJO D, GIMÉNEZFERNÁNDEZ A, TORRES-MORENO J. A flexible multibody model of a safety robot arm for experimental validation and analysis of design parameters [J]. Journal of Computational and Nonlinear Dynamics, 2014, 9(1): 011003.

    Article  Google Scholar 

  25. MICHALOS G, MAKRIS S, SPILIOTOPOULOS J, MISIOS I, TSAROUCHI P, CHRYSSOLOURIS G. Robo-partner: Seamless human-robot cooperation for Intelligent, flexible and safe operations in the assembly factories of the future [C]// Procedia CIRP. Amsterdam: Elsevier, 2014, 23: 71–76.

    Article  Google Scholar 

  26. KULI D, CROFT E A. Real-time safety for human–robot interaction [J]. Robotics and Autonomous Systems, 2006, 54(1): 1–12.

    Article  Google Scholar 

  27. BDIWI M. Integrated sensors system for human safety during cooperating with industrial robots for handing-over and assembling tasks [C]// Procedia CIRP, 2014, 23: 65–70.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China

    Ning Hu  (胡宁)

  2. School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China

    Chang-sheng Li  (李长胜), Li-feng Wang  (王利峰), Lei Hu  (胡磊), Xiao-jun Xu  (徐晓军), Yun-peng Zou  (邹雲鹏), Yue Hu  (胡玥) & Chen Shen  (沈晨)

  3. School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    Lei Hu  (胡磊)

Authors
  1. Ning Hu  (胡宁)
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Chang-sheng Li  (李长胜)
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Li-feng Wang  (王利峰)
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Lei Hu  (胡磊)
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Xiao-jun Xu  (徐晓军)
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Yun-peng Zou  (邹雲鹏)
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Yue Hu  (胡玥)
    View author publications

    You can also search for this author in PubMed Google Scholar

  8. Chen Shen  (沈晨)
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ning Hu  (胡宁).

Additional information

Foundation item: Projects(2012AA041601, 2015AA0400614) supported by the Hi-Tech Research and Development Program of China; Project(2012BAI14B02) supported by the National Key Technology R&D Program of China; Project(61333019) supported by the National Natural Science Foundation of China; Project(SKLRS-2013-MS-09) supported by the Open Fund of State Key laboratory of Robotics and System, China; Project(YWF-14-JXXY-001) supported by the Scientific Research Business Fund, China; Project(2014ZX04013011) supported by the National Science and Technology Major Project of the Ministry of Science and Technology of China

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Hu, N., Li, Cs., Wang, Lf. et al. Intelligent monitoring-based safety system of massage robot. J. Cent. South Univ. 23, 2647–2658 (2016). https://doi.org/10.1007/s11771-016-3326-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11771-016-3326-3

Key words

Search

Navigation