Safety Analysis (WP4, T4.

3)

Piotr Muzyka, ACCREA

 T4.3: Safety Analysis
1. T4.3: Safety Analysis - brief description

2. ISO standards used in the study

3. Safety analysis methodologies : SoA

4. Safety analysis methodology for Mobot project :

risk evaluation, three step methodology of risk reduction, injury scale choice

5. Conclusion

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 T4.3: Safety Analysis - brief description
„The overall goal is to design a robot which is mechanically not capable of causing serious
injuries, independent of software and control. Less severe injuries must be prevented on the
control level (see T2.5), as a certain amount of force is necessary to successfully perform the
envisioned tasks. This task will contribute to the requirements in D4.2, D4.4, and D4.6 as well as
the robotic platforms D4.3, D4.5, D4.7“ (MOBOT DoW)

Main concepts of functional safety :

• There are no safe devices, no zero risk = there is always residual risk
• Safeguards = Functional safety

Tasks:

- to derive safety requirements for the mechanical design and help implement them.

- to pursue an optimal trade-off between performance and safety will be pursued. This will result
in a design where safety is already incorporated in the kinematic structure.

- to examine the worst case contact using articulated models of the robot and human.

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 ISO standards used in safety analysis study

• ISO 13482 Robots and robotic devices - Safety requirements

for nonindustrial robots - Non-medical personal care robot,
• ISO 10218-1:2011 Robots and robotic devices- Safety
requirements for industrial robots Part 1: Robots
• ISO 10218-2:2011 Robots and robotic devices- Safety
requirements for industrial robots Part 2: Robot systems and
integration
• ISO/TS 15066 Collaborative robots
• ISO 12100:2010 Safety of machinery -General principles for
design – Risk assessment and risk reduction
• ISO 13849-1:2006 Safety of machinery - Safety-related parts
of control systems - Part 1: General principles for design
 Safety analysis methodology

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(source: ”Safety of Personal Care Robots as an Example of Consumer Devices” presentation by Yoshihiro Nakabo
Safety analysis for Mobile Servant Robot: Kompaï

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Safety analysis
TER safety analysis and integration – document methodology

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Safety analysis - MOBOT project methodology

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 T4.3: Safety analysis in MOBOT project

To reduce the possible risks resulting from human-robot collaboration a

functional safety table was created.

It's shape is basing on the pattern included in Annex A

(List of significant hazards for personal care robots) to ISO standard ISO
13482 Personal care robots with additional risk evaluation table.

The objects of the risk assessment were described above the table by
Parameters such as :
- dimensions,
- mass,
- target group and project that the target device belongs to

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 Robot definition, robot types
The ISO/DIS 13482 classifies the non-medical person care robots into
three groups

Mobile servant robot Physical assistant robot Person carrier robot

Restraint-free assistance robot – physical assistant robot subgroup

- suits both of the MOBOT project robots.
Main tasks :

- To assist elderly/tired person to and from

chair, bed, etc.
- To assist in basic mobility tasks on flat
ground with or without help from partner
- To help provide more ease and comfort in
daily life for independent living

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Risk evaluation

Risks are assessed according to the risk assessment

standard ISO 13849-1:2006 approach.

Parameters :
– severity of injury (Minor/Major) ,
– frequency (Frequent, Infrequent),
– possibility to avoid harm (Low//High)

with additional parameter

- possibility of harm occuring (injury to the user).

Basing on this parameters the overall risk level is

evaluated (Low/Medium/High).

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Risk assessment – ISO 13849-1:2006

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 Injury scale choice

There are several ways of grading the

severity of injury. The one used in
current functional safety tables is the
Risk evaluation
severity scale of
ISO 13482 Annex D.

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 ISO 12100 - Three step risk reduction methodology
ISO 12100 defines a standard approach to designing machines to achieve safety requirements:

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 Conclusion

Meeting the ISO Standards guidelines is vital.

Not only the standards show the general approach to safety analysis process
but also prove that the outcome of our project is safe as the safety analysis has
been conducted according to them.

Simple and efficient tool.

Table gathers guidelines of many standards, starting with the evaluation of the
risks, ways to reduce the risk by inherently safe design and the ways to assess the
residual risk. Such tool is plain and simple, clear for specialists from many fields as
it doesn’t involve knowledge of any of the modelling languages. The safety analysis
table has been presented to our engineers, by gathering their oppinions a slight
changes have been made, however the tool has proved to be simple and efficient in
providing guideliness for reducing the risk on design level.

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Thank you for your attention.

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