建立首个基于能量的伤情防护数据库，涵盖手部剪切接触风险
Energy-Based Injury Protection Database: Including Shearing Contact Thresholds for Hand and Finger Using Porcine Surrogates
- 用猪组织替代物测试不同角度碰撞下的能量阈值
- 发现非垂直剪切碰撞致伤率低于垂直冲击
- 为机器人安全控制提供可量化的生物力学依据
尽管机器人研究持续提出人机交互中的避障策略，但在受限环境和未来类人机器人系统中，接触不可避免。为降低伤害风险，常采用能量约束控制方法，但其安全阈值多基于EN ISO 10218-2:2025中的钝性撞击数据，不涵盖刃边或尖端碰撞。缺乏覆盖多种接触场景、可扩展且具有临床基础的数据集，使安全验证受限。先前研究已通过替代物评估不同几何形态下的速度与质量限制，聚焦于垂直撞击。本研究扩展该数据集，加入无约束条件下的剪切接触场景，揭示碰撞角度显著影响伤情结果。值得注意的是，无约束剪切接触造成的伤害少于垂直撞击。通过对所有既有猪组织替代物数据重新评估，我们建立了跨几何形状与接触类型的能量阈值，形成首个基于能量的伤情防护数据库，可支持开发在各种真实碰撞事件中确保安全的能量限制控制器。
原文摘要 · Abstract (English)
While robotics research continues to propose strategies for collision avoidance in human-robot interaction, the reality of constrained environments and future humanoid systems makes contact inevitable. To mitigate injury risks, energy-constraining control approaches are commonly used, often relying on safety thresholds derived from blunt impact data in EN ISO 10218-2:2025. However, this dataset does not extend to edged or pointed collisions. Without scalable, clinically grounded datasets covering diverse contact scenarios, safety validation remains limited. Previous studies have laid the groundwork by assessing surrogate-based velocity and mass limits across various geometries, focusing on perpendicular impacts. This study expands those datasets by including shearing contact scenarios in unconstrained collisions, revealing that collision angle significantly affects injury outcomes. Notably, unconstrained shearing contacts result in fewer injuries than perpendicular ones. By reevaluating all prior porcine surrogate data, we establish energy thresholds across geometries and contact types, forming the first energy-based Injury Protection Database. This enables the development of meaningful energy-limiting controllers that ensure safety across a wide range of realistic collision events.
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