机器人–人碰撞中人体头部损伤研究

Study on Human Head Injury in Robot-Human Collision

摘要: 随着机器人技术在服务和工业领域的广泛应用，机器人与人碰撞碰撞引发人体损伤的问题日益凸显。头部作为人体最脆弱部位之一，其在人机交互环境下损伤风险评估成为人机安全领域的关键。本文聚焦于机器人–人碰撞场景中的头部损伤，通过LS-DYNA软件进行碰撞仿真分析，探究不同碰撞参数对头部损伤的影响。实验设置不同碰撞速度，选取四个不同碰撞方向，以头部损伤指标HIC等为评价核心依据，分析碰撞速度与碰撞位置对头部损伤的影响；通过采取包裹粘弹性材料来降低机器人对人体的伤害。研究结果表明，碰撞速度与头部损伤程度呈正相关关系，速度越大，风险越高；不同碰撞位置对头部伤害存在显著差异，头部前后侧碰撞的危害要显著高于两侧。针对本文采用的SN10A型号10 kg负载机器人，其速度限制为0.5 m/s时不会对人体造成过大伤害。此外，还验证了在机器人外层包裹粘弹性材料能够有效降低机器人对人的伤害。本文研究可为机器人安全设计、碰撞风险防控以及人机交互安全标准制定提供理论支撑与数据参考，同时丰富机器人–人碰撞的相关研究成果。

Abstract: With the widespread application of robot technology in service and industrial fields, the issue of human injury caused by collisions between robots and humans has become increasingly prominent. The head, as one of the most vulnerable parts of the human body, poses a significant risk of injury in human-machine interaction environments, making its injury risk assessment a crucial aspect in the field of human-machine safety. This article focuses on head injuries in robot-human collision scenarios. Through collision simulation analysis using LS-DYNA software, it explores the impact of different collision parameters on head injuries. The experiment set different collision speeds and selected four different collision directions. Using head injury criteria such as HIC as the core evaluation basis, the impact of collision speed and collision location on head injury was analyzed. Reducing the harm of robots to humans by covering them with viscoelastic materials. The research results indicate that there is a positive correlation between collision speed and the severity of head injuries, with higher speeds posing greater risks. Significant differences exist in head injuries caused by collisions at different locations, the hazards of frontal and rear collisions are significantly higher than those of side collisions. For the SN10A 10 kg payload robot used in this article, its speed limit of 0.5 m/s will not cause excessive harm to the human body. In addition, it was also verified that wrapping the robot in viscoelastic materials can effectively reduce the harm the robot may cause to humans. This study provides theoretical support and data reference for robot safety design, collision risk prevention and control, as well as the formulation of human-robot interaction safety standards. It also enriches the research findings related to robot-human collision.