ISO/TS 15066：不同解释如何影响风险评估
ISO/TS 15066: How Different Interpretations Affect Risk Assessment
摘要：
当前的安全人机交互技术规范ISO/TS 15066：2016（E）包含了对人与机器人之间接触的逻辑冲突定义。这可能导致对接触分类的不同解释，因此预期不会产生独特的结果，甚至可能对人体造成风险。在以前的工作中，我们展示了第一组含义。本文论述了由于对风险评估的不同解释而对碰撞情景可能作出的解释。通过一个实验，包括四个商业上可用的机器人系统，我们证明了风险评估的TS的不同解释的程序。结果表明，可能不正确使用的技术规格，我们认为需要在未来的修订解决。为此，我们建议工具的形式，决策树和约束碰撞力地图，使一个简单的，明确的风险评估HRI。
英文摘要：
The current technical specification ISO/TS15066:2016(E) for safe human-robot interaction contains logically conflicting definitions for the contact between human and robot. This may result in different interpretations for the contact classification and thus no unique outcome can be expected, which may even cause a risk to the human. In previous work, we showed a first set of implications. This paper addresses the possible interpretations of a collision scenario as a result of the varying interpretations for a risk assessment. With an experiment including four commercially available robot systems we demonstrate the procedure of the risk assessment following the different interpretations of the TS. The results indicate possible incorrect use of the technical specification, which we believe needs to be resolved in future revisions. For this, we suggest tools in form of a decision tree and constrained collision force maps, which enable a simple, unambiguous risk assessment for HRI.
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