{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,13]],"date-time":"2026-01-13T14:39:06Z","timestamp":1768315146145,"version":"3.49.0"},"reference-count":30,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2017,12,13]],"date-time":"2017-12-13T00:00:00Z","timestamp":1513123200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,4,9]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The installation of industrial robots requires security barriers, a costly, time-consuming exercise. Collaborative robots may offer a solution; however, these systems only comply with safety standards if operating at reduced speeds. The purpose of this paper is to describe the development and implementation of a novel security system that allows human\u2013robot coexistence while permitting the robot to execute much of its task at nominal speed.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The security system is defined by three modes: a nominal mode, a coexistence mode and a gravity compensation mode. Mode transition is triggered by three lasers, two of which are mechanically linked to the robot. These scanners create a dynamic envelope around the robot and allow the detection of operator presence or environmental changes. To avoid velocity discontinuities between transitions, the authors propose a novel time scaling method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The paper describes the system\u2019s mechanical, software and control architecture. The system is demonstrated experimentally on a collaborative robot and is compared with the performance of a state-of-art security system. Both a qualitative and quantitative analysis of the new system is carried out.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The mode transition method is easily implemented, requires little computing power and leaves the trajectories unchanged. As velocity discontinuities are avoided, motor wear is reduced. The execution time is substantially less than a commercial alternative. These advantages can lead to economic benefits in high-volume manufacturing environments.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper proposes a novel system that is based on industrial material but can generate dynamic safety zones for a collaborative robot.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2017-0165","type":"journal-article","created":{"date-parts":[[2017,12,13]],"date-time":"2017-12-13T11:09:45Z","timestamp":1513163385000},"page":"220-226","source":"Crossref","is-referenced-by-count":49,"title":["An industrial security system for human-robot coexistence"],"prefix":"10.1108","volume":"45","author":[{"given":"Philip","family":"Long","sequence":"first","affiliation":[]},{"given":"Christine","family":"Chevallereau","sequence":"additional","affiliation":[]},{"given":"Damien","family":"Chablat","sequence":"additional","affiliation":[]},{"given":"Alexis","family":"Girin","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2017,12,13]]},"reference":[{"key":"key2021041507282060800_ref001","article-title":"A grasp-based passivity signature for haptics-enabled human-robot interaction: application to design of a new safety mechanism for robotic rehabilitation","year":"2017","journal-title":"The International Journal of Robotics Research"},{"key":"key2021041507282060800_ref002","first-page":"2971","article-title":"Towards safe human-robot interaction in robotic cells: an approach based on visual tracking and intention estimation","year":"2011"},{"key":"key2021041507282060800_ref003","volume-title":"White Paper Safe Collaboration with ABB Robots Electronic Position Switch and Safemove","year":"2008"},{"key":"key2021041507282060800_ref004","first-page":"1","article-title":"The kuka-dlr lightweight robot arm-a new reference platform for robotics research and manufacturing","volume-title":"International Symposium on Robotics","year":"2010"},{"key":"key2021041507282060800_ref005","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.rcim.2015.12.007","article-title":"Collaborative manufacturing with physical human\u2013robot interaction","volume":"40","year":"2016","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2021041507282060800_ref006","first-page":"280","article-title":"The dlr crash report: towards a standard crash-testing protocol for robot safety-part II: discussions","year":"2009"},{"key":"key2021041507282060800_ref007","first-page":"7","article-title":"Robot assistants at manual workplaces: effective co-operation and safety aspects","year":"2002","journal-title":"International Symposium on Robotic"},{"issue":"7\/8","key":"key2021041507282060800_ref008","first-page":"479","article-title":"Quantitative safety guarantees for physical human-robot interaction","volume":"22","year":"2003","journal-title":"The International Journal of Robotics Research"},{"key":"key2021041507282060800_ref009","first-page":"399","article-title":"Robot assistant in industrial environments","year":"2002"},{"issue":"1","key":"key2021041507282060800_ref010","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1115\/1.3140713","article-title":"Impedance control: an approach to manipulation: part II implementation","volume":"107","year":"1985","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"issue":"5","key":"key2021041507282060800_ref011","doi-asserted-by":"crossref","first-page":"281","DOI":"10.1177\/0278364903022005001","article-title":"Safety evaluation method of design and control for human-care robots","volume":"22","year":"2003","journal-title":"The International Journal of Robotics Research"},{"key":"key2021041507282060800_ref012","unstructured":"ISO10218. 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