Human-robot collision model with effective mass and manipulability for design of a spatial manipulator

Sang Duck Lee, Byeong Sang Kim, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


As the use of service robots becomes more popular, many solutions to ensure human safety during human-robot collision have been proposed. In this paper, we address one of the most fundamental solutions to design an inherently safe robot manipulator. A collision model is developed to evaluate the collision safety of any spatial manipulator. Most collision studies have focused on collision analysis and safety evaluation, but not on the use of evaluation results to design a safer robot arm. Therefore, we propose a collision model that relates design parameters to collision safety by adopting effective mass and manipulability. The model was then simplified with several assumptions. Furthermore, experimental results from biomechanical literature were employed to describe a human-robot collision. The major advantage of this collision model is that it can be used to systemically determine the design parameters of a robot arm.

Original languageEnglish
Pages (from-to)189-198
Number of pages10
JournalAdvanced Robotics
Issue number3
Publication statusPublished - 2013 Feb 1

Bibliographical note

Funding Information:
This research was supported by the Ministry of Knowledge Economy under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10038660) and by the Human Resources Development Program for Convergence Robot Specialists supervised by the NIPA.


  • collision safety analysis
  • collision velocity
  • effective mass
  • manipulator design
  • physical human-robot interaction

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Control and Systems Engineering
  • Hardware and Architecture
  • Computer Science Applications


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