A Verification Method for Testing Abrasion in the Use of Restraint Type Personal Care Robots

  • Yoji YamadaEmail author
  • Mao Xuewei
  • Kengo Yoshida
  • Yasuhiro Akiyama
  • Shogo Okamoto
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 16)


Physical stress hazards are identified as a part of the safety requirements for personal care robots as described in ISO 13482. We conducted a safety verification study to clarify an inherently safe condition region in the shear stress—time relationship: The higher the shear stress is, the smaller number of times is needed for blister generation. For validating the verified safety data, we also built a testbed where a manipulator is used to optimally control the position and force of a cuff in contact with a piece of porcine skin for the purpose of reproducing the contact conditions as close as possible to those obtained when a human wears a robot.


Porcine Skin Stratum Granulosum Stratum Spinosum Epidermal Basal Layer Safety Verification 
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This work was supported by NEDO (New Energy and Industry Organization), Japan.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Yoji Yamada
    • 1
    Email author
  • Mao Xuewei
    • 1
  • Kengo Yoshida
    • 2
  • Yasuhiro Akiyama
    • 1
  • Shogo Okamoto
    • 1
  1. 1.Safety Intelligence Group, Department of Mechanical Science and EngineeringNagoya UniversityNagoyaJapan
  2. 2.Kansai Electric Power Co. Inc.OsakaJapan

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