基于能量的伤害防护数据库：包含使用猪类替代物的手和手指的剪切接触阈值
Energy-Based Injury Protection Database: Including Shearing Contact Thresholds for Hand and Finger Using Porcine Surrogates
AI总结：
本文提出基于能量的伤害防护数据库，通过引入猪类替代物的剪切接触阈值，扩展了碰撞安全验证的数据集，以提高人机交互中的碰撞安全性。
摘要：
尽管机器人研究持续提出策略以在人机交互中实现碰撞避免，但受限环境和未来人形系统的现实使得碰撞不可避免。为了降低受伤风险，通常使用能量约束控制方法，通常依赖于从EN ISO 10218-2:2025中的钝击数据中得出的安全阈值。然而，该数据集不适用于边缘或尖端碰撞。没有可扩展且具有临床依据的数据集涵盖多样化的接触场景，安全验证仍然有限。先前的研究通过评估基于替代物的速度和质量限制在各种几何形状中奠定了基础，重点是垂直碰撞。本研究通过在无约束碰撞中包含剪切接触场景扩展了这些数据集，揭示碰撞角度显著影响受伤结果。值得注意的是，无约束剪切接触导致的受伤比垂直碰撞少。通过重新评估所有先前的猪类替代物数据，我们建立了不同几何形状和接触类型中的能量阈值，形成了首个基于能量的伤害防护数据库。这使开发具有意义的能量限制控制器成为可能，确保在广泛的真实碰撞事件中保持安全。
英文摘要：
While robotics research continues to propose strategies for collision avoidance in human-robot interaction, the reality of constrained environments and future humanoid systems makes contact inevitable. To mitigate injury risks, energy-constraining control approaches are commonly used, often relying on safety thresholds derived from blunt impact data in EN ISO 10218-2:2025. However, this dataset does not extend to edged or pointed collisions. Without scalable, clinically grounded datasets covering diverse contact scenarios, safety validation remains limited. Previous studies have laid the groundwork by assessing surrogate-based velocity and mass limits across various geometries, focusing on perpendicular impacts. This study expands those datasets by including shearing contact scenarios in unconstrained collisions, revealing that collision angle significantly affects injury outcomes. Notably, unconstrained shearing contacts result in fewer injuries than perpendicular ones. By reevaluating all prior porcine surrogate data, we establish energy thresholds across geometries and contact types, forming the first energy-based Injury Protection Database. This enables the development of meaningful energy-limiting controllers that ensure safety across a wide range of realistic collision events.
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