{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:02:59Z","timestamp":1777716179754,"version":"3.51.4"},"reference-count":55,"publisher":"SAGE Publications","issue":"13","license":[{"start":{"date-parts":[[2012,11,1]],"date-time":"2012-11-01T00:00:00Z","timestamp":1351728000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2012,11]]},"abstract":"<jats:p>Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over recent years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. For this, safe robot behavior even under worst-case situations is crucial and forms also a basis for higher-level decisional aspects. For quantifying what safe behavior really means, the definition of injury, as well as understanding its general dynamics, are essential. This insight can then be applied to design and control robots such that injury due to robot\u2013human impacts is explicitly taken into account. In this paper we approach the problem from a medical injury analysis point of view in order to formulate the relation between robot mass, velocity, impact geometry and resulting injury qualified in medical terms. We transform these insights into processable representations and propose a motion supervisor that utilizes injury knowledge for generating safe robot motions. The algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations. The proposed framework forms a basis for generating truly safe velocity bounds that explicitly consider the dynamic properties of the manipulator and human injury.<\/jats:p>","DOI":"10.1177\/0278364912462256","type":"journal-article","created":{"date-parts":[[2012,11,2]],"date-time":"2012-11-02T02:32:09Z","timestamp":1351823529000},"page":"1578-1602","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":168,"title":["On making robots understand safety: Embedding injury knowledge into control"],"prefix":"10.1177","volume":"31","author":[{"given":"Sami","family":"Haddadin","sequence":"first","affiliation":[{"name":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany"}]},{"given":"Simon","family":"Haddadin","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany"},{"name":"Orthopedic Clinic and Polyclinic, University Hospital Klinikum Rechts der Isar, Technical University of Munich (TUM), Munich, Germany"}]},{"given":"Augusto","family":"Khoury","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany"},{"name":"Interdepartmental Research Center \u201cE. Piaggio\u201d, Faculty of Engineering, University of Pisa, Pisa, Italy"}]},{"given":"Tim","family":"Rokahr","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany"}]},{"given":"Sven","family":"Parusel","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany"}]},{"given":"Rainer","family":"Burgkart","sequence":"additional","affiliation":[{"name":"Orthopedic Clinic and Polyclinic, University Hospital Klinikum Rechts der Isar, Technical University of Munich (TUM), Munich, Germany"}]},{"given":"Antonio","family":"Bicchi","sequence":"additional","affiliation":[{"name":"Interdepartmental Research Center \u201cE. Piaggio\u201d, Faculty of Engineering, University of Pisa, Pisa, Italy"}]},{"given":"Alin","family":"Albu-Sch\u00e4ffer","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany"}]}],"member":"179","published-online":{"date-parts":[[2012,11,1]]},"reference":[{"key":"bibr1-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1108\/01439910710774386"},{"key":"bibr2-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907073776"},{"key":"bibr3-0278364912462256","unstructured":"BG\/BGIA (2009) Empfehlungen zur Gestaltung von Arbeitspl\u00e4tzen mit kollaborierenden Robotern. Technical report."},{"key":"bibr4-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1310939"},{"key":"bibr5-0278364912462256","volume-title":"International Symposium on Robotics (ISR2010)","author":"Bischoff R","year":"2010"},{"key":"bibr6-0278364912462256","volume-title":"Manuale di Dermatologia Medica e Chirurgia","author":"Cainelli T","year":"2008","edition":"4"},{"key":"bibr7-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1302506"},{"key":"bibr8-0278364912462256","doi-asserted-by":"crossref","first-page":"284","DOI":"10.1016\/S0196-0644(88)80125-2","volume":"17","author":"Edlich R","year":"1988","journal-title":"Annals of Emergent Medicine"},{"key":"bibr9-0278364912462256","volume-title":"Handbuch gerichtliche Medizin - Spitze, scharfe und halbscharfe Gewalt","author":"Eisenmenger W","year":"2004"},{"key":"bibr10-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2257-4"},{"key":"bibr11-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.934824"},{"key":"bibr12-0278364912462256","first-page":"146","volume":"14","author":"Goldsmith P","year":"1999","journal-title":"International Journal of Robotics and Automation"},{"key":"bibr13-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152602"},{"key":"bibr14-0278364912462256","first-page":"439","volume-title":"International Symposium on Robotics Research (ISRR2007)","author":"Haddadin S","year":"2007"},{"key":"bibr15-0278364912462256","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2007.III.028"},{"key":"bibr16-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909343970"},{"key":"bibr17-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509854"},{"key":"bibr18-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.942996"},{"key":"bibr19-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650764"},{"key":"bibr20-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1177\/02783649030227004"},{"key":"bibr21-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"bibr22-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022005001"},{"key":"bibr23-0278364912462256","unstructured":"International Organization for Standardization (2006) ISO10218: Robots for industrial environments \u2013 Safety requirements \u2013 Part 1: Robots."},{"key":"bibr24-0278364912462256","unstructured":"International Organization for Standardization (2011) ISO10218-1: Robots and robotic devices \u2013 Safety requirements for industrial robots \u2013 Part 1: Robots."},{"key":"bibr25-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152702"},{"key":"bibr26-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400103"},{"key":"bibr27-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-006-9009-4"},{"key":"bibr28-0278364912462256","volume-title":"Histotechnik","author":"Lang G","year":"2006"},{"key":"bibr29-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022066888"},{"key":"bibr30-0278364912462256","volume-title":"Medicina Legale (compendio)","author":"Macchiarelli L","year":"2002"},{"key":"bibr31-0278364912462256","first-page":"1","volume-title":"Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK)","author":"Matthias B","year":"2010"},{"key":"bibr32-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1007\/s001050050399"},{"key":"bibr33-0278364912462256","volume-title":"Clinically Oriented Anatomy","author":"Moore KL","year":"2009","edition":"6"},{"key":"bibr34-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363917"},{"issue":"4","key":"bibr35-0278364912462256","first-page":"51","volume":"6","author":"Ogrodnikova O","year":"2009","journal-title":"Acta Polytechnica Hungarica"},{"key":"bibr36-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980282"},{"key":"bibr37-0278364912462256","first-page":"1","volume-title":"International Conference on Advanced Robotics, 2009 (ICAR 2009)","author":"Park J-J","year":"2009"},{"key":"bibr38-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980549"},{"key":"bibr39-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2010.5641897"},{"key":"bibr40-0278364912462256","volume-title":"Histology: A Text and Atlas With Correlated Cell and Molecular Histology","author":"Ross MH","year":"2006"},{"key":"bibr41-0278364912462256","volume-title":"AO Principles of Fracture Management","volume":"1","author":"R\u00fcedi TP","year":"2007","edition":"2"},{"key":"bibr42-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.2004.1315"},{"key":"bibr43-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1115\/1.1992528"},{"key":"bibr44-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijimpeng.2004.11.010"},{"key":"bibr45-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543453"},{"key":"bibr46-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363806"},{"key":"bibr47-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-58069-7_9"},{"key":"bibr48-0278364912462256","volume-title":"Roche LexikonMedizin","author":"Tutsch D","year":"2009"},{"key":"bibr49-0278364912462256","doi-asserted-by":"publisher","DOI":"10.4271\/710881"},{"key":"bibr50-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399199"},{"key":"bibr51-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.1996.568748"},{"key":"bibr52-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/3516.653047"},{"key":"bibr53-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1310938"},{"key":"bibr54-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904042193"},{"key":"bibr55-0278364912462256","doi-asserted-by":"publisher","DOI":"10.1115\/1.1978911"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912462256","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912462256","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:35Z","timestamp":1777457855000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364912462256"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,11]]},"references-count":55,"journal-issue":{"issue":"13","published-print":{"date-parts":[[2012,11]]}},"alternative-id":["10.1177\/0278364912462256"],"URL":"https:\/\/doi.org\/10.1177\/0278364912462256","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,11]]}}}