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Unified evaluation index of safety and dexterity of a human symbiotic manipulator

Abstract In this paper, we propose an unified evaluation index, safety and dexterity index ( index), which is capable of evaluating together the safety and dexterity of a manipulator. The index includes degree and degree that provide individual information of safety and dexterity, respectively, and index that provides the correlation information between them. Safety and dexterity measured by using multiple evaluation factors are individually evaluated as degree and degree, respectively, and are summarized by and . The correlation between them is shown by and it represents after safety conditions are adopted. Peak impact force and pushing force were selected as safety evaluation factors and velocity, force, and the ability to avoid internal failure were selected as dexterity evaluation factors. All of these factors were quantified through individual evaluation equations newly proposed in this paper or by the previous research, and were later normalized. A two-link manipulator was evaluated using the index as a case study. From the results obtained, we confirmed that the index could evaluate both the safety and dexterity together of the manipulator.