Safety Assessment of a Robotic Arm Motion including Human Factors

Abstract

Human-Robot Collaboration (HRC) requires not only technical safety but also a level of comfort for humans to ensure that humans and robots work and interact safely in the daily process flow. This paper presents a review of preliminary design considerations on how a robot arm can be controlled to explore various safe and personified movements in order to assess and improve legibility of robot performance in the presence of moving humans at home, industry, or any other environment.