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FAULT-TOLERANT SAFETY CONCEPT FOR HUMAN ROBOT INTERACTION

An important aspect of pHRI (physical Human Robot Interaction) is to assure the safety of the human participant in the interaction. One of the approaches to assure safety is to plan the paths executed by the robot based on a certain safety criterion. This acts as a constraint for decision making of intelligent systems. This paper introduces the FaultTolerant Distance as a novel safety criterion. It assures an injury free interaction between the robot and a human even in the case of a malfunction in the structure of the robot hardware or software.