Dynamic risk assessment and active response strategy of human-robot collaboration based on fuzzy comprehensive evaluation
Abstract: Highlights•In terms of data acquisition and processing: using different position modal sensing data for operator state perception, to ensure the comprehensiveness of information acquisition; The use of wearable sensors ensures operator comfort and portability.•In terms of human body state analysis: combined with the movement characteristics of human one-handed tasks, the common operation characteristics in the pHRC process were analyzed. By analyzing human risk factors and making dynamic weight adjustments according to actual data, a risk assessment model was generated to identify human abnormal behaviors and reduce potential risks.•In terms of risk assessment of pHRC operation intent: referring to the person-person collaboration process, a person can perceive the anomaly of a partner and take timely actions to avoid accidents; in the process of pHRC, sensing devices can sense the state of human movement, evaluate the risk of human behavior, and conduct safe behavior response before the robot executes the instruction of human intention. This breaks traditional human safety boundaries and establishes a scalable, universal safety assessment model.•In terms of risk response: variable damping admittance control is used to ensure the flexibility of changes in human operation when risks occur, and the risk can be prevented in time.
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