Safety certification requirements for domestic robots
Contents
1. No Manufacturer s warnings for user in order to avoid errors and possible hazardous conditions Inherent Safe Design Measures Are the risks affordable and do not require further reduction according to methods RAD and ALARP and existing standards Are the hazards eliminated to an acceptable level Is domestic robot safety checklist achieved Possible human and robot s errors were taken account by the manufacturer No Fig 2 A safety approach concerning applied methods and our proposed concept The final instruction checks the occurrence of errors by humans and robots and strongly recommends that the manufacturer should use warning signals in order to enhance human protection It is essential that no inacceptable risk remain in a safe system i e the risk should not exceed an affordable level So corrective and preventive measures have to be followed iteratively until the haz ard is diminished to an acceptable level In the following paragraphs Sections 2 2 1 2 2 13 we have kept a structure similar to a standard a manufacturer should follow in order to assure the safety of robotic products Descriptions points out the requirements against and guidelines on the safety issues on the specific case of robots for domestic use Moreover and with an aim to readers further understanding we accompanied thes2. Industrial Engineering Department Auburn University AL 36849 USA Japanese Standard JIS B0134 1998 Manipulating industrial robots vocabulary Japanese Standard JIS B0185 2002 Intelligent robots vocabulary Japanese Standard JIS B0186 2003 Mobile robots vocabulary Japanese Standard JIS B0187 2005 Service robots vocabulary Kabe T Tanaka K Hiroyoso I Sugimoto N 2010 Consideration on safety for emerging technology case studies of seven service robots Safety Science 48 296 301 Kilmer R 1982 Safety sensor systems for industrial robots In Proceedings of the Robots VI Conference and Exposition Society of Manufacturing Engineers SME MI pp 479 491 Korean Standard KS B 6934 2006 Performance measure methods for household cleaning robots Korean Standard KS B 6935 2006 Service robots safety guidelines Korean Standard KS B 6936 2006 Service robots safety instructions Korean Standard KS B 6937 2006 Service robots vocabulary Part 1 Classification amp general terms Korean Standard KS B 6938 Service robots vocabulary Part 2 Mobility and intelligence Korean Standard KS B 6960 2007 Service robots safety requirements electrical aspects Korean Standard KS B 6961 2007 Service robots test methods for mechanical strength Part 1 Load test Korean Standard KS B 6962 2007 Service robots test methods for mechanical strength Part 2 Fall and distortion
3. Turkey IEC 60204 1 2005 10 7 1 Devices for emergency stop shall be readily accessible ISO 10218 1 2011 Robots for industrial environments safety requirements Part I robot ISO 10218 2 2011 Robots and robotic devices Safety requirements for industrial robots Part 2 robot systems and integration ISO 12100 2010 Safety of machinery general principles for design risk assessment and risk reduction ISO 12100 1 2 2003 Safety of machinery basic concepts general principles for design ISO 13857 2008 Safety of machinery safety distances to prevent danger zones being reached by the upper limbs ISO 14120 2002 Safety of machinery guards general requirements for the design and construction of fixed and movable guards ISO 14121 1999 Safety of machinery principles of risk assessment ISO 14971 2000 Medical devices application of risk management to medical devices ISO Standard ISO 8373 2007 E Manipulating industrial robots vocabulary ISO FDIS 8373 2012 Robots and robotic devices vocabulary lt http www iso org iso iso_catalogue catalogue_tc catalogue_detail htm csnumber 55890 gt ISO IEC Guide 50 1999 Safety aspects guidelines for their inclusion in standards Jenkins F 1993 Practical requirements for a domestic vacuum cleaning robot Technical Report Jiang B Cheng O 1990 A procedure analysis for robot system safety International Journal of Industrial Ergonomics 95 117
4. s covering hood with aim to avoid damaging internal electrical components The use of adequate insulation cable cross sections panel cov ers shall prevent an electrical shock In the case of AIBO or any robot performing on batteries there exist electrical hazards such as fire electric shock or chemical burn hazard in case that battery is mistreated and explosion hazard if the battery is incorrectly placed The robot electrical equipment shall follow the appropriate instructions of the relevant requirements IEC 60204 1 2005 2 2 3 Recommendation for software quality 1 2 3 Settings in order to maintain backup power for robots bearing RAM shall be checked so that all data shall not be erased if there is a power failure causing a malfunction Robot with operating units shall use only ROM to prevent from changing the operating program A restart procedure shall be made available to operate after an emergency stop In case of an improper restart program and data could be saved on disk incorrectly which might affect the ability of the robot to perform specific safety criti cal tasks as well as user s ability to manipulate it as in industrial robots 4 10 11 12 13 14 15 E Mitka et al Safety Science 50 2012 1888 1897 Restarting the robot by resetting a single switch shall not be possible A more detailed restart procedure shall be provided to prevent any hazardous movements or simila
5. International Conference on Robotics and Automation Pasadena CA USA
6. absence of certification in the domain and with aim to increase commercialization utilization and acceptance of domestic robots by the society the establishing of international standards should incorporate terminology from any national respective effort such as the South Korean standards KS B 6937 KS B 6937 2006 and B 6938 KS B 6938 2006 and Japanese ones JIS B0134 JIS B0134 1998 and B0185 0187 JIS B0185 6 7 2002 2003 2005 respectively Moreover among Korean Standards there are six safety related standards KS B 6935 KS B 6935 2006 KS B 6936 KS B 6936 2006 KS B 6960 KS B 6960 2007 KS B 6961 KS B 6961 2007 KS B 6962 KS B 6962 2007 and KS B 6966 KS B 6966 2008 and performance standards related to service robots such as KS B 6960 KS B 6960 2007 or household robots KS B 6934 KS B 6934 2006 In Kabe et al 2010 seven service robots were approved according to the general safety principles of machinery In another approach Kulic and Croft 2006 presents a method for ensuring human robot interaction based on danger factors and simulated experiments Nagamachi 1986 attempted to analyze through experiments and actual data of real accidents human robot unsafe conditions in industrial applications which were due to intrinsic limitations in human perception decision making and action tak ing with the use of a Fault Tree Analysis Furthermore the princi ple of separating robot from human operator
7. criteria intend to minimize the chance of an accident and provide the necessary protection to users With the aim to sustain the ultimate objective of this study i e putting forward an innovative systematic and complete method that combines worldwide well tried existing principles with a new concept concerning specific human robot interaction issues the flowchart in Fig 2 is used to articulate a general safety ap proach for domestic robots On the top of the flowchart the guide lines involved in the procedure of risk assessment are set out We take the view that if residual risks are diminished to a tolerable le vel in terms of the ALARP region and if RAD and existing standards are implemented then there is no need to elaborate further the risk assessment Otherwise the next step is the fulfillment of our key element the proposed robotic safety checklist described later in this section If this step is bypassed then more preventive fea tures are required to achieve risk reduction The next step in this iterative certification procedure introduces the reduction of the design and construction of machinery hazards bellow a certain acceptable level Next a check is made as to whether the system complies with the general principles of inherent safety design E Mitka et al Safety Science 50 2012 1888 1897 1891 Risk Assessment A m gt Risk Reduction A More corrective and preventive measures
8. is equipped with an emergency stop switch on the manual controller Pressing this emergency button blocks any hazardous movement the rotation of sharp blades and mower s wheels within seconds Dimensions of implements such as plates glasses or kitchen equipment should be considered when selecting a robot with grippers and plan well how these objects might be handled Objects shall be correctly oriented and gripped by the robot so that users should be able to stop the operation if the object is mishandled Provide a sensing device to aware the robot of the mishandled object and equip the robot with an indicator such as a loud noise to alert residents that an object is mishandled 2 2 10 Training 1 Providing that the robot bears parts that might be harmful e g blades picks etc then specific responsibilities concerning for the respective safety procedures shall be assigned to an adult user 1894 E Mitka et al Safety Science 50 2012 1888 1897 2 Full legible instructions shall be provided from the manufac turer in user s instruction manual in accordance to the particu lar robot model with all possible dangers related to the robot 3 Any user responsible for the safety of the robot shall be trained appropriately prior to operating the robot and shall be aware of the dangers and precautions to be taken In the special case of a robot bearing harmful parts a special visible and legible sign shall be place
9. justify the residual hazards by applying the ALARP As Low As Reasonably Practicable test adopted in the standard of the risk management of medical devices ISO 14971 2000 Moreover the organization needs to consider the cost of installation of safety devices against their utility since commercialization of domestic robots demands a low budget strategy In this regard the right balance between cost benefit and hazard reduction to as low as a level as possible needs to be established i e where the risks R are balanced against utility U of the device If U gt R the manufacturer avoids the liability for a harmful incident The absolute measure of sever ity states that the Head Injury Criterion HIC should be less than 200 according to intrinsic safety with regards to head acceleration hazards when the maximum static force to be applied on objects equals 1 N Wassink and Stramigioli 2007 Nowadays as personal care and service robots tend to invade in every day life there is a necessity to produce relative international standards Thereupon ISO establish ISO TC 184 Technical Commit tee that has the responsibility for developing standards on automa tion systems and integration Moreover one Subcommittee called SC2 that deals with robots and robotic devices has also been estab lished The scope of SC2 is the standardization of manipulating ro bots and robotic devices except for toys and military ones SC2 is developing a group
10. shall be capable of operating autonomously Other wise restricted control shall be operated through a remote controller Depending on the operation of the robot it shall be as compact as possible with minimum size and weight in order to maneu ver into the house The preferable human robot interaction would be by natural language and or vision E Mitka et al Safety Science 50 2012 1888 1897 1895 14 The operational area shall be well defined and operational con tingencies detected shall be eliminated Jenkins 1993 Such operational contingencies include inability to determine loca tion in the house obstacles within its path inoperative sen sors not accessible charging station inability to follow user s commands inability to follow the tasking path charging sta tion not charging sensor failure high temperature of an actu ator or a motor low battery and so on 15 An operative mechanism shall be applied such as a lifting or rollover sensor in order to reduce the chance of theft 16 Nonwaterproof robots shall be prevented from washing with high pressurized liquids and shall be prevented from being turned over in water partially or completely 2 2 13 Requirement of shape safety 1 Check again that there are no jagged edges corners sharp edges or picks as in case a corner sticks out of the robot might result in a hazard Nevertheless the robot shall be manufactured with smooth upper cover surface ISO 12100
11. test Korean Standard KS B 6966 2008 Service robots safety requirements for shape Kulic D Croft E 2006 Real time safety for human robot interaction Robotics and Autonomous Systems 54 1 12 Lee S Yu S Choi J Han C 2011 A methodology to quantitatively evaluate the safety of a glazing robot Applied Ergonomics 42 445 454 Nagamachi M 1986 Human factors of industrial robots and robot safety management in Japan Applied Ergonomics 17 1 9 18 OSHA Technical Manual OTM 1999 Industrial robots and robot system safety section IV Chapter 4 lt http www osha gov dts osta otm otm_iv otm_iv_4 html gt Rahimi M 1986 Systems safety for robots an energy barrier analysis Journal of Occupational Accidents 127 138 Seungbin M Gurvinder S V 2009 Survey on ISO standards for industrial and service robots In Proceedings of the ICROS SICE International Joint Conference Japan SONY Corporation 2004 ERS 7M2 Entertainment Robot AIBO user s guide basic lt http www aiai ed ac uk project aibo documents ERS 7M2 AIBO Basic Manual pdf gt Wassink M Stramigioli S 2007 Towards a novel safety norm for domestic robotics In Proceedings of the IEEE RSJ International Conference on Intelligent Robots and Systems USA Wyrobek K Berger E Van der Loos M Salisbury K 2008 Towards a personal robotics development platform rationale and design of an intrinsically safe personal robot In IEEE
12. 2 4 2 1 2003 Any material on AIBO or the supplied accessories shall be checked for jagged edges corners sharp edges or picks Any material on Robomow or the supplied accessories shall be tested for corners that sticking out the covering hood because there might alert for potential hazard 2 Any material used to build up the robot shall not contain carcin ogenic allergenic or toxic substances above the allowable limits 3 The actuation mechanism of the robot shall be protected The respective covers shall be kept in good condition as in indus trial robots 3 Information for the user In addition to the design requirements in Section 2 2 every manufacturer should make users aware they ought to follow the following instructions 1 Plan well that the floor is flat Otherwise fill in any holes and remove objects such as extension cords clothing items and books that block the path of the robot In addition obstacles types may include stable walls stairs changeable doors static cabinets floating chairs tables and moving resi dents pets guests infants It is proposed to operate the robot at scheduled times every day 2 Children must not ride upon misuse or attack the robot In particular the user should pay extra attention to infants because they are inattentive and extremely vulnerable Moreover pets shall be protected from sitting on the robot or disturbing its task 3 User should set up a list of ins
13. Safety International Manufacturing Technology IFS Publications Ltd UK Corrales J A Candelas F A Torres F 2011 Safe human robot interaction based on dynamic sphere swept line bounding volumes Robotics and Computer Integrated Manufacturing 27 177 185 Crowley J 1989 Planning and execution of tasks for a domestic robot Robotics and Autonomous Systems 5 3 257 272 Denning T Matuszec C Koscher K Smith J R Kohno T 2009 A spotlight on security and privacy risks with future household robots attacks and lessons In Proceedings of the 11th International Conference on Ubiquitous Computing pp 105 114 Etherton J Sneckenberger J E 1990 A robot safety experiment varying robot speed and contrast with human decision cost Applied Ergonomics 21 3 231 236 European Community 2000 Guide to the implementation of directives based on the new approach and the global approach Fei B Ng W S Chauhan S Kwoh C K 2001 The safety issues of medical robotics Reliability Engineering and System Safety 183 192 Friendly Robotics Acquisition Ltd 2009 Robomow operating and safety manual lt http www robomow com pdf 2010 rl_manual_en pdf gt Harper C Dogramadzi S Tokhi O 2009 Developments in vocabulary standardisation for robots and robotic devices In Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines Istanbul
14. Safety Science 50 2012 1888 1897 Contents lists available at SciVerse ScienceDirect Safety Science ME ae N ELSEVIE journal homepage www elsevier com locate ssci Safety certification requirements for domestic robots Eleftheria Mitka Antonios Gasteratos Nikolaos Kyriakoulis Spyridon G Mouroutsos School of Engineering Democritus University of Thrace Vas Sophias 12 Xanthi 671 00 Greece ARTICLE INFO ABSTRACT Article history Received 5 December 2011 Received in revised form 5 April 2012 Accepted 10 May 2012 Available online 7 June 2012 Domestic robotics is a growing sector with the potential for a large number of commercial applications Robotics technologies have been successfully applied in industrial production lines yet for them to be successful in a dynamic household environment the need for increased reliability robustness and other special capabilities become paramount We are not far from the time when people will live and interact with robots and thus safety becoming the fundamental issue to observe Robot designers should produce safe products for humans no matter what failure malfunction or mishandle may occur Thus respective safety procedures ought to be applied to domestic robots as well The most critical challenge is to pre serve safety of humans without forfeiting a single token of the efficiency required to perform any task In this technical communication the authors a
15. arging station to the power supply transmitter Do not shorten or lengthen it e Allow permission to the power supply transmitter unit only to aware residents 13 If the robot is operating in close proximity to another one by the same or a different manufacturer then you should make adjustments so that the frequencies of the two robotic devices do not interfere with each other 14 The environmental constraints such as heat noise chemicals and fire shall be under control Furthermore noise level shall be kept to a minimum limit The air openings of the power supply unit shall be wiped out of residuals An appropriate signaling shall be required if any environmental or electrical condition is violated Robot shall be protected from heat or fire Jenkins 1993 4 Risk assessment and risk reduction 4 1 Environmental constraints The operational environment of a domestic robot shall not be af fected by any living being such as residents guests parents chil dren infants the elderly people with mental and physical impairments and pets Moreover it should not be affected by an unstructured and chaotic environment The constraints imposed by a household are definitely reasonable Albeit rooms are placed and created randomly they are connected by different doors spe cific outdoors or openings drive outside or into wardrobes and lock ers Further constrains are imposed by ladders chimneys various types of floor textures and har
16. arts of robot e Failure to stop e Grippers deficiencies e Human robot environment chemical thermal conditions e Unreliability of existing safety devices e High speed of robot The robot shall be prevented from moving at high speed Bonney and Yong 1985 e Improper initial robot start up procedures e Blocking of servos e Precision efficiency deterioration e Faults of tools or mishandle of household objects e Fault in data transmission e Intentional deactivation of safety devices 7 List of identified hazards towards machinery On top of the measures taken by the manufacturer to avoid the risk of hazards that domestic robots might cause to the user the product should also be evaluated against the following list of possible dangers e Mechanical Hazard Crushing Shearing Cutting or severing Entanglement Impact High pressure fluid injection Shape Acceleration deceleration inadequate mechanical strengths Mass and velocity Potential elements or elastic elements Bonney and Yong 1985 e Electrical Hazard Contacts of persons with live parts Breakdown Leakage current Electrostatic phenomena Thermal radiation e Hazard generated by vibration White finger disease Neurolog ical osteo articular disorders e Hazard generated by radiation electromagnetic fields infra red light visible light and ultra violet light Laser radiation X and y rays o and rays electron or ion beams neutrons ionizi
17. base station control zone the two step operator presence control the manual controller panel and the manual drive speed control 2 2 8 Recommendation for measuring the dynamic performance 1 Post manufacture check of the full scale system about its max imum minimum optimal speed and settings start end points path process as in industrial robots The reliability of sensors shall be tested under dynamic condi tions and safety features shall be provided to avoid a malfunction Control parameter settings shall be corrected according to man ufacturing specifications while the robot remains stationary and safety information shall be provided to the user Jiang and Cheng 1990 2 2 9 Malfunction 1 2 A specified checking procedure shall be selected to determine the cause of a malfunction A caution note shall be included in the user manual that only authorized personnel having the necessary technical expertise and skill should work on correcting a robot s malfunction An emergency button shall be provided for unaware users when malfunction occurs since unqualified users may get injured User s manual of AIBO contains a warning which legibly states that all malfunctions should be inspected by the near est authorized agents Robomow s user s manual indicates that every maintenance service replacement or inspection of worn or damaged parts should be carried out by service experts Moreover Robomow
18. ddress the need for safety regulations in domestic robotics and while they do not intend to replace any current robot safety standards or guidelines the proposed work may serve as a supplement to the standards Since specific safety standards for domestic robots are not available we propose that their safety verification should be carried out on the base of well applied standards that developed in other areas and discussed here The communication in hand provides the ground upon which a standard on domestic robots can be built Moreover it proposes a systemic approach that explicitly relates the system and user requirements to a list of safety problems in order to achieve an adequate level of safety in domestic robotics Keywords Standardization Domestic robots Requirements Systemic method 2012 Elsevier Ltd All rights reserved 1 Introduction The necessity for safety in robotics technology has already been referred to by Asimov as early as 1942 Nevertheless researchers have already identified that just the Asimov s three laws are not adequate to cope with robot behavior Present day industrial robotics standards lay out instructions for robots and their opera tional environment The new ISO 10218 1 2011 and ISO 10218 2 2011 standards delineate the requirements with the view to re duce as far as possible critical hazards The trade off between ad vanced technical attributes and the pertinent absolute safety requi
19. dness Forgotten objects may be spe cifically and dynamically located delicate and probably priceless and lighting conditions varies from absolute darkness to ablaze 4 2 Risk assessment The risk of a hazard is calculated as the product of two factors as follows risk probability x severity where probability is the likelihood to occur a hazard and severity is the seriousness of the hazard respectively Thus apart from setting a risk limit a maximum severity must also be set ensuring that the robot is not capable of causing undesired severities In a nutshell the func tional safety should be in consistence with a detailed and briefed description of the hazards that indicate the maximum permissible risk level and severity 5 Intrinsic safety The concept of an intrinsically safe design aims to produce such morphologies that prevent an unpredictable injury to robot s users Thus intrinsic safety is dictated by the industrial design whereas 1896 E Mitka et al Safety Science 50 2012 1888 1897 the study on software hardware combination should reduce the probability of occurrence of possible harmful injuries Wassink and Stramigioli 2007 6 List of factors that cause safety problems to domestic robots The necessity for a comprehensive study of factors and hazards that cause safety problems in domestic environments by robots is emergent Based on previous standards and studies basic risks re la
20. e range of noise frequencies in case of an audio signal 2 2 12 Operation stage 1 10 11 12 13 Control access of unaware residents or guests because robot may pin unknowledgeable pets or people The device can only be used by people who know how to operate it and who have read and fully understood the entire manual Take measures that the user will report any abnormal or disori ented operational condition observed The safety switches and any sensor embedded in AIBO shall be tested under dynamic conditions and verified that they are ina proper working condition The manufacturer should inform the buyer of Robomow system that he she should keep all guards shields switches safety devices and sensors in place The user is not sup posed to operate the robot if any parts are damaged or inoperable A visual checkout procedure shall be developed and implemented The designer should take into account the fact that objects will be dropped and liquids will be spilled upon the robot eventually The developer shall consider that owner s operational man ual may not be read thoroughly from the user Supplementary material shall be included such as video instruction Opera tions instruction shall be able to be given to the user by the robot itself e g by online material downloaded by the robot itself The installation of the robots and its charging station shall fol low legible instruc
21. e recommendations by two real examples in or der to illustrate the various stages of the evaluation of the risks or certification The two chosen examples are the SONY AIBO 1 The authors have chosen to present AIBO here due to the fact that many people are familiarized with this robotic pet notwithstanding that SONY Corporation has ceased its production Fig 3a and Friendly Robotics Robomow Fig 3b which as being a robot pet and a robot lawnmower respectively they exhibit totally diverging characteristics in the application domain the mode of use the safety level the way of movement etc Fig 3 The two real examples of domestic robots chosen to illustrate the various stages of the evaluation of the risks or certification a SONY AIBO and b Friendly Robotics Robomow the images are adopted from the web sites of the respective companies http www sony com and http www robomow com 1892 2 2 1 Recommendation for mechanical strength 1 Means for releasing stored energy when robot is stopped shall be provided Stored energy can be dangerous due to potential overshoot action on switching on Pressure release valve shall be incorporated in robot design The normal fuse valve which is built in the system shall continue to operate before danger ous pressure is reached as in industrial robots Safety features shall continue to be active so that the robot will halt when necessary to protect people Otherwi
22. e safe its parts should also meet the existing safety standards In the previous example of the rehabilitation ro bot this means that any mechanical or electrical part of the robot ought to be appropriately certified Thus the robot is safe if and only if during its operation there are no collisions the user com mands are executed precisely its parts are certified and they fol low the national directives If these requirements are not fulfilled then the system cannot be considered safe in any case The na tional directives concern the harmonization of the products limited to some essential requirements The products that are placed on the market and put into service are only those that fulfill these essential requirements Furthermore clear system requirements are also important since they contain the specifications of the equally important sub systems Thus an ample definition of the system requirements leads to an easier integration of all subsystems The system requirements are not limited to the technical requirements but also encompass the ones concerning safety which of course determine the boundaries of the technical requirements It is true that safety requirements depend on the technical ones and that should also enfold the national directives and standards However as Protagoras said man is the measure of all things suggesting an element of variability according to user s requirements That is to say it would inde
23. e various type of modes available namely deep sleep manual automatic max pre set time edge eco and the safety practices that need to be followed The reliability of the software shall be thoroughly tested The settings for the recovery procedure shall be tested as they are critical to putting the robot back to normal opera tion after a failure Care shall be taken to make the user aware of any malfunction Furthermore a back up power system shall be initiated by software if needed Jiang and Cheng 1990 E Mitka et al Safety Science 50 2012 1888 1897 2 2 4 Initial start up test 1 The manufacturer should take the necessary measures to inform the user that regular tests on all safety protections need to be performed Detailed instructions on how to perform these tests shall be provided In the user s guide the user of AIBO is informed that he should periodically check the AC adapter to avoid fire haz ards the receiving antenna for interference the shield of interface cable for damaging the lithium Ion battery for leading the enclosure for opening and the external flexible cord for damaging The manual of Robomow informs the buyer that periodi cally he ought to inspect blades for foreign material or deb ris to clean base station with a damp cloth to confirm good contacts between base station wires and contacts to con firm that power supply is plugged at main power receptacle and that the coiled cord is prop
24. ed be hard but not impossible to specify univer sal requirements where all possible applications of the specified system need to be taken into account Besides the technical parts of the final system reliability testing occurs for the software parts grouping data into clusters of homogeneous failure intensities pro vides better reliability assessment The final system must pass reli ability tests at both the hardware and software level before proceeding to manufacture and eventual release to the market 2 2 Safety requirements for domestic robots In this section we will assess the safety issues regarding to domestic robots thus we should start with a definition of this robotics category That said notwithstanding the plethora of defi nitions for robots used industry e g ISO FDIS 8373 2012 OSHA 1999 there is hardly any source to provide an analytical counter part for domestic usage According to ISO FDIS 8373 2012 a manipulating industrial robot is an automatically controlled repro grammable multipurpose manipulator programmable in three or more axes which may be either fixed in place or mobile for use in industrial automation applications The robot includes the manipu lator including actuators and the control system hardware and software Moreover according to the Definition 1 2 ISO standard 8373 No 2 14 a robotic system is a system comprising robot end effector any equipment devices or sensor
25. erly placed in the holder to check the reliable connection of the power cable with the wire connector and to confirm good contacts in the end of the green and the red wires Emergency stops shall execute the proper stop function In par ticular wiring communication devices sensors electrical and utility connections program bugs speed mode plugs should meet the performance criteria 2 2 5 The requirement of emergency stop switch 1 The installation of stop and restart buttons shall be regularly looked after An alarm realized by means of a stop button an or an audible alert and or a visual cue and or an auditory cue and or an occasional verbal exclamation shall be installed The user shall be informed about secondary stop procedures and the process to lead to start position The restart position shall be tested for its proper performance as in industrial robots An emergency stop shall be installed and verified that remains functional preventing any dangerous function Jiang and Cheng 1990 Robomow is already equipped with an emergency stop switch on the manual controller in order to block its mowing path 2 2 6 Recommendation for the sensory devices 1 Check thoroughly the safety performance and force level of tac tile and proximity sensors and also check if the safety related sensors are sensitive enough to detect small objects in case of domestic service robots Check thoroughly all the sens
26. facturers and users requirements with aim to guaranty the safety of this emerging technology in terms of general public acceptance to domestic robotics According to our proposal manufacturers wishing to verify the safety of their prospective domestic robotic products should follow the following steps 1 Submit the necessary papers according to the requirements of safety guidelines to the safety commission 2 The commission sets up a safety committee comprising safety scientists as a third party 3 The safety committee carries out an assessment with the view to approve the placement of the product in the personal robot ics market whilst checking the following issues that we have analyzed above Design requirements and protective measures Information made available to the user Risk assessment and risk reduction Intrinsic safety List of factors that cause safety problems to domestic robots List of identified hazards towards machinery 4 Based on the examination report of the safety committee the safety commission determines a final statement and issues a judgment report to verify the adequacy for safety of the manu facturer s product Appendix A Supplementary material Supplementary data associated with this article can be found in the online version at http dx doi org 10 1016 j ssci 2012 05 009 E Mitka et al Safety Science 50 2012 1888 1897 1897 References Bonney M C Yong D 1985 Robot
27. ng or non ionizing radiation e Thermal Hazard Burns and scalds e Hazards generated by neglecting ergonomic principles in machine physiological and psycho physiological effects human errors e Slipping tripping and falling hazards Trapping points can be caused by the movement of household objects Bonney and Yong 1985 e Hazard generated by materials and substances ingestion inha lation of fluids gases mists fumes fibers dusts or aerosols harmful toxic corrosive teratogenic carcinogenic mutagenic irritant or sensitizing effect biological hazards Environmental Hazards temperature wind snow lightning vapor explosive or flammable atmospheres ISO 12100 1 2 2003 8 Summary In this paper we reviewed standards and safety features re lated to the design of domestic robots from the point of view of safe performance We summarized and made references to fun damental issues such as risk assessment intrinsic safety safety of machinery factors and hazards and their relevance to robotic products As the domestic robot industry is forecast to expand rapidly in the near future with highly sophisticated commercial robots in home use standardization work needs to be stepped up The paper concludes with a method that can be considered as a fundamental step towards any certification procedure which is an important process for effective commercialization Finally we feel that this procedure will meet manu
28. of novel and or revised standards in order to incorporate aspects of industrial robotics to personal care and domestic service ones Standardization efforts of SC2 are carried out by four active working groups including WG7 on developing safety requirements concerning non medical personal care robots and WG8 on developing service robots standards In WG8 the standards currently under construction are carried out concerning the most urgent areas such as software coordinate system modu larity performance criteria safety assurance user interface and characteristics of mobile robots Seungbin and Gurvinder 2009 The first standard to be updated is ISO 8373 2007 that covers a vocabulary of terms and definitions used in robotics standards The new ISO 10218 1 2011 and ISO 10218 2 2011 standards in conjunction with new standards developed for personal care service robots that are being established by WG7 touch existing robotic domains and extended them to novel domains such as the domestic robotics Harper et al 2009 Yet due to the lack of the existence of international standards for such an emerging do main the respective standard organizations in South Korea and Ja pan defined their own safety standards with aim to assist the rapid development of viable global markets in these conceivable future applications These efforts support standards of vocabulary of terms and definitions along with relevant technical standards Ow ing to the
29. on the robot by the manufacturer warning any user 4 A training schedule on safety shall be established from the trained user to all who might come in contact with the robot and live in the house We strongly recommend that the resident should firstly give dramatic representation on the hazards of using the robot and secondly inform correctly others with the necessary precautions Bonney and Yong 1985 AIBO s user should inform the unfamiliar residents about any fire electrical or explosion hazards or chemical burn that might be caused by an improper handling of the device Robomow s user should inform unaware residents about any inflammation electrical overheating cutting or tripping hazards that might be caused by improper handling of the device or the rotation of sharp blades or by thrown objects 5 Warning signs shall be established to protect residents who may consider that they can ceaselessly be reckless with the operating robot condition to the robot embedding harmful parts 2 2 11 Structural components of the robot s content 1 A back up procedure shall be established to halt the robot in case of i software or hardware failure ii violation of safety rules iii lost of control or moving in an erratic manner and iv human error as in industrial robots 2 Safety measures at points of collision shall be added in case of domestic robots with moving parts 3 An emergency stop in case of robotic companion o
30. onditions Since mismatches between the real and the virtual world may always occur simulation data shall be tested on the real robots The robot shall have easily accessible safety commands and functions so that the user shall be able to stop the robot in an emergency or shut down the power software The software of the robot should bear a self checking program that manages suspicious movements Unless such a program exists the user shall not be able to reach a control to stop a dis oriented robot in proper time as in industrial robots Online tutorials and help menus shall contain the appropriate instructions so that users shall have direct access to informa tion on how to operate the robot and with a good understand ing of how the robot shall execute its task It is strongly recommended wherever possible that the robot itself down loads the updated instructions and presents them to its user In case of AIBO the manufacturer should provide easy accessed online software tutorials with aim to explain to the user the safety instructions about managing the wireless LAN function the images videos taken by the robot the daily sche dule the connection with a PC or a mobile communication device the remote control the autonomous and the rest mode respectively This robotic pet shall be able to download any updated menu and provide them to the user In case of Robomow the manufacturer shall provide an operational video explaining th
31. operations such as pro gramming teaching and repair more difficult Access to industrial robots is restricted by fixed and movable guards on the base of ISO 14120 2002 through interlocks and other safety devices Generally speaking the principle of stopping or separating as applied to industrial environments is unsuitable for home since human robot interactions constitute basic functions of any domestic robot It should also be pointed out that compared to their industrial relatives service robots are usually smaller less powerful and with enhanced mobility and autonomy However the basic guidelines of preparation for standardization the methodologies for safety of machinery as well as the international standard for robotics ISO 10218 1 2011 providing rules for robot human interactions should also be made applicable to domestic robots Every manufacturer should follow the basic instructions summarized in the general principle of safety of machinery ISO IEC Guide 50 1999 including the basic safety standards the principle of risk assessment ISO 14121 1999 inherent safety principle for design ISO 12100 2010 and safe E Mitka et al Safety Science 50 2012 1888 1897 1889 features according to ISO 13857 2008 The safety organization should examine the effectiveness of the methods used by the de signer in order to reduce hazards to those corresponding to the Reasonable Alternative Design RAD standard It may then
32. ors for malfunctions Faulty sen sors could damage the product or hurt people AIBO s sensors such as integrated sensors infrared distance acceleration vibration and input sensors head back chin paw shall be checked thoroughly by the manufacturer for possible malfunctions Robomow s sensors such as lift rain bumper touch sensi tive shall be tested for improper function prior to its dis posal to the market Screen the privacy of the robot user by restraining the respec tive sensing abilities of the robot especially when it is equipped with privacy sensitive sensors such as cameras or microphones Denning et al 2009 Consider the need that the robot should be able to operate or shut down safely with one or more of its sensors inoperative Jenkins 1993 1893 2 2 7 Recommendation for measuring the static performance 1 Take account of the results against manufacturer s specifica tions because results may differ or robot could function improp erly due to inadequate design Jiang and Cheng 1990 Manufacturer should check if AIBO is functioning properly according to its own technical specifications Functions that should be checked are the Wi Fi the operating light the vol ume control switch the game mode the clinic mode the house sitting mode and the energy station function Manufacturer shall check Robomow s functions such as the manual shut off equipment mounted and remote the
33. ortant therefore to be able to recognize and identify potentially hazardous conditions in the operation of a robot at an early stage Defining the procedure to determine the circumstances under which the robot may cause injuries and performing a hazard analysis is essential Safety test methods include a system simula tion following a risk analysis such as fault tree analysis FTA risk tree network logic preliminary hazard energy barrier task analy sis subsystem analysis failure mode and effects analysis These quantitative techniques make use of probability theory to estimate relevant hazards Rahimi 1986 Jiang and Cheng 1990 Moreover a stochastic process based on probability theory could be imple mented to a certain degree in the field of internal safety devices 2 Design requirements and protective measures 2 1 System technical and safety requirements The American National Institute of Standards and Technology NIST has identified three safety zones for working robots Kilmer 1982 with Level 1 safety zone defined as the area outside the accessible working area of the robot Level 2 zone as the accessible workspace area of the robot excluding a small area surrounding the robot itself and Level 3 as the zone in the immediate vicinity of the robot Fig 1 depicts the concept of dividing the space around the robot into the respective safety zones Apart from maintaining a safe distance for humans further measures should
34. r humanoid robot that the robot is out of control and may need to be shut off quickly In case of pressing this button at any time during normal operation the robot has to stop within seconds The emergency stop shall be accessible and recognizable IEC 60204 1 10 3 2 2005 10 7 1 ISO 13850 4 An appropriate danger sign for electrical shock shall be gener ated if needed 5 Make sure stops will not create a pinch point and equip the robot with built in pressure sensitive safety switch which is activated in case that the robot exceeds its functional limits due to i poor user judgment ii mechanical failure or iii bug in programming 6 Any material used to build up the robot shall be checked for deficiencies All the material used to built AIBO s body energy station energy station pole AC adapter battery pack pink ball AJBOne and AIBO card shall be tested for deficiencies All the material used to built Robomow s body charger base station perimeter wire manual controller and power pack shall be checked for deficiencies 7 The robot should not cause interference with any other elec tronic device 8 Adequate electrical protection shall be provided against electri cal surge such as regulators filters proper ground circuit 9 The robot shall be equipped with a specific audio or visual sig nal easily recognizable by everyone to let people know whether it is on or off Use a frequency that is not within th
35. r situations The objective of this instruction is that a simple restart method shall not be possible to deal with any arbitrary situation and thus a person may accidentally press a simple restart button with an improper or disoriented robot s start up most proba ble leading to a hazard A built in electronic hardware control system and or safety operational software shall be selected to force the robot to shut itself down in an emergency so that to prevent harmful acci dents or property damaging The software implementing the safety rules on the robot shall be completely isolated from the rest of the software operating the robot in the sense that it cannot be affected by malfunc tions caused by any other operating reason The software architecture should be built in such a manner so that safety is hierarchically above any other operation There fore any detailed operation shall refer to the software imple menting the safety rules A well defined built in self checking safety software shall not result in a failure to shut itself down as in industrial robots An expert system based malfunction diagnostics software shall be provided in order to determine malfunction causes The absence of a comprehensive procedure may encourage random guessing rather than actually determining the true problem Robot motion simulator in 2 D or 3 D shall be provided to sim ulate robot operation under accident occurrence c
36. rements is an issue standardization project teams need to consider due to the emerging nature of this technology Moreover robotics technology is expanding from industrial to household applications creating thus new kind of robots such as robotic com panions logistic robots robots for surveillance and intervention and edutainment robots Robots of the aforementioned types shall be able to provide services to make humans daily life much easier with typical tasks including medical treatment of patients in the privacy of their own homes transportation of patients or people with disabilities to hospitals and public places protection of resi Corresponding author Tel 30 2541079359 fax 30 2541079331 E mail addresses em3933 ee duth gr E Mitka agaster pme duth gr A Gasteratos nkyriako pme duth gr N Kyriakoulis sgmour ee duth gr S G Mouroutsos 0925 7535 see front matter 2012 Elsevier Ltd All rights reserved http dx doi org 10 1016 j ssci 2012 05 009 dents and people s belongings children education social compan ionship to elders etc Traditionally guards and interlocks have been used to protect people working with robots However such isolation safety prac tice can lead to new unhealthy restrictions in operations and usage Safety of industrial robots has been a matter of concern in stan dards for years and this has resulted in regulations that keep users and robots apart making well defined
37. s is no longer tenable as robots move from the state of separation to that of coexistence Etherton and Sneckenberger 1990 In this paper we make an at tempt to codify safety regulations in domestic robots Unlike previ ous literature endeavors applicable specifically to the safety of other categories of robots e g in industry Corrales et al 2011 in construction Lee et al 2011 in medical applications Fei et al 2001 our paper emphasizes the need for an innovative cer tification procedure for domestic robots with the view to test the validity of the applied measures and to also provide supplementary guidelines to the existing standards and methods on such an emerging technology We survey well established standards devel oped in other areas such as electrical appliances safety or software quality and we reflect on their applicability to domestic robots The robot must be safe to operate in dynamic environments in close proximity to humans and in order to achieve this safely its hardware and software should be properly integrated Software reliability is essential in a domestic robot since any loss in control in what is essentially a complicated computer based safety critical system can lead to dangerous actions with catastrophic conse quences It cannot be overemphasized that the designer of such systems needs to always keep in mind the problems associated with debugging large computer programs Wyrobek et al 2008 It is imp
38. s required for the robot to perform its task and any communication interface that is operating and monitoring the robot equipment or sensors as far as these peripheral devices are supervised by the robot control system An other useful definition is 1 3 ISO standard 8373 No 2 15 where robotics is the practice of designing building and applying robots On the other hand robots for residential use are those automation apparatuses which are considered capable of successfully taking over chores in a household environment inhabited by groups of people They may complete a wide variety of tasks such as vacuum cleaning fetch and carry tasks ironing clothes and window clean ing Thus a domestic robot is a robot used in a domestic environ ment Crowley 1989 The successful introduction of safe household robots for use in a diverse number of tasks represents a major challenge In fact the so familiar household surroundings constitute an most chaotic environment full of non stationary objects including different groups of entities making it hard to evaluate the safety of such sys tems without any standardization benchmark Here we believe it is crucial to put forward a comprehensive and systematic overview of corrective or preventive measures based on robotic safety guidelines and standards in order to provide a safety checklist throughout the design manufacture commissioning and operation stages of robot use These safety
39. se a person might be crushed between the robot and another object person or the wall Safety features in case of AIBO SONY Corporation 2004 such as battery pack lock indicator unlock hole insertion slot release lever mode indicator AC adaption conversion pack safety switch of memory stick pin for removing AIBO s extremities over current monitoring protection and tilt sensors should be active to eliminate dangerous conditions Safety features in case of Robomow Friendly Robotics Acqui sition Ltd 2009 such as child guard safety guard lift sen sor sensor equipped bumpers sealed batteries perimeter switch automatic departure warning alert shall continue to be active in order to protect residents under all emer gency circumstances Dynamic brakes for the case of software crash or failure of power supply shall be provided When software shuts down robots may follow arbitrary trajectories and run into a person or another personal asset Jiang and Cheng 1990 2 2 2 Requirement of electrical safety 1 2 3 Hoses and cables shall be embedded inside the body of the robot Otherwise residents could be injured by contact to them as in industrial robots To prevent shock hazard and injuries of persons in case of AIBO parents or guardians shall not open the cabinet in order to avoid damaging cords blades or housing To prevent human health in case of Robomow residents shall not open the mower
40. still be consid ered the safe use of robots However in the cases of domestic ro bots use keeping humans far from robots appears to be impossible Thus it is clear that safety of humans under conditions of close proximity should be given proper consideration Building robots according to existing national standards can lead to reduced risk levels and ensure adequate levels of reliability and safety Ro bots to be operated in Europe should conform to the European Committee directives and carry the CE marking approval European Community 2000 1890 E Mitka et al Safety Science 50 2012 1888 1897 Fig 1 The three safety region levels identified by NIST Delving into the realm of a safe robot constructing all system and safety requirements should be given due consideration from the beginning of the process A system may be considered safe when it meets the basic safety standards defined by the national directives and regulations and safety targets are fulfilled Every system operating in proximity to humans has to comply with spe cific safety requirements for accident avoidance The safety requirements may vary according to the application the system is designed for e g the high level safety requirements for a reha bilitation robot could be i no collisions and ii user command execution without putting the patient s life in danger Apart from the high level safety requirement that can be described verbally for a system to b
41. ted to accidents caused by domestic robots are listed The follow ing classification attributes the factors into human error and robot s errors Since more studies are accomplished more factors could be added in the classification that follows We note that a few of these errors may not be categorized in one list or another The fundamental scope of this separation is to point out the way that a safety expert has to consider further in order to determine the causes of problems or malfunctions Rahimi 1986 ISO 10218 1 2011 Jiang and Cheng 1990 Error due to human factor involves faulty instructions to resi dents or misuse of the device e The operational task of the robot is unknown to the resident e User performing change of a part e User is unaware of the programmed movement of the robot e Curious unaware guest come close to the robot e User s programming fault e Lack of acquaintance with the relevant equipment of the device e The user is reckless Errors due to robot factor involve factors that may lead to soft ware malfunctions These are specifically defective adjustments poor logic design improper implementation support software de sign or failure erroneous pointer memory allocation call stack and unexpected timing The software malfunction might result to any of the following e Robot system failures mechanical electrical e Unintentional robot movement e Expected and unpredictable stops and st
42. tions and shall not require more than 1 h In case that domestic robot s function requires battery charg ing the charging station shall be positioned according to the following rules e It shall be placed on compact flat and stable surface with good drainage on level ground preferably in a wide span area of the house e Make sure that water or other liquids is not directed inside the charging station e The entrance of the charging station shall be positioned so that the robot can enter e The charging station shall be well fastened to the ground away from explosive and or flammable environments AIBO s energy station shall not be placed on hot or wet surfaces or near devices that might cause interference Robomow s charger station shall not be placed in sites subject to vibration and away from concrete incline or hard surfaces and preferable at the largest area of the lawn surface The lawn surface should be leveled with the base station Except for replacement of not well maintained or worn out tools the device shall not require routine or extraordinary maintenance more than once a year The device shall not be subject to interferences such as high ambient noise radio transmissions unshielded computers infrared remote controllers and magnetic fields Any internal malfunction shall be detected and the robot shall continue to operate condition to the malfunction does not affect the safety rules The robot
43. tructions concerning the task of the robot in a visible place in the house 4 Do not contact the robot during its operation 5 Prevent humans from throwing objects to the robot while it operates 6 Ensure that all residents are well out of range of the robot motion when turning on the power 7 Make sure that any accompanying sensor is placed away from light microwaves magnetic fields heat or sound Jen kins 1993 8 In addition user must carefully read the instructions and fully understand them in order to prevent harmful injuries and pay extra attention to the symbols that appear on the robot and the manual their shape and color are important for safety We insist that the user should make adjustments according to the procedures described in the manual and in no case should he make any adjustments that are not expressly indicated Jiang and Cheng 1990 9 Prevent residents pets children and guests from coming in contact with an operating robot 10 Establish a regular routine to check the quality of the robot 11 Check the indicators of the sensors regularly Jiang and Cheng 1990 12 The power supply transmitter shall be placed according to the following guidelines e Ina well ventilated place without atmospheric pollution and heavy sunlight e Preferably indoors e If you place it outdoors ensure it is protected in a well ventilated housing to prevent water and humidity e Draw carefully the cord from the ch
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