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Demonstrates effective safety zone configurations in human-robot collaboration, suggesting improved safety protocols.
Power and force limiting (PFL) is a safety function in human-robot collaboration (HRC) allowing direct contact if it remains within biomechanical thresholds. While enabling close tasks, PFL poses hazards that require careful safety configurations. Modern controllers provide user-configurable functions, but setup can be tedious and error-prone. This work presents a workflow for configuring PFL safety functions by semi-automatically identifying essential information and analyzing potential contact situations, resulting in effective safety zones, based on existing norms.
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Tseng et al. (2026) studied this question.
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