Attachment 0

Ref.
Ares(2020)7191594 - 30/11/2020
Socio-Physical Interaction Skills for Cooperative Human-Robot Systems in

Agile Production (H2020-ICT-871237)
Socio-Physical Interaction Skills for Cooperative Human-

Robot Systems in Agile Production
Deliverable
D10.4 Overview on existing standards and
standardization activities in the field of
biomechanical risk and HRC
Deliverable due date: 30.11.2020 Actual Submission Date: 2020-11-30
Start Date of the Project: 01.12.2019 Duration: 48 months
Lead contractor of this deliverable: DIN Revision: 3.0
Reference WP and Tasks: WP10 / Task 10.4 Authors: Lydia Vogt
Dissemination Level : PU Nature: R
Nature:
R = Report, P = Prototype, D = Demonstrator, O = Other
Dissemination level
PU = Public, PP = Restricted to other programme participants (including the Commission Services), RE = Restricted to a group specified by the
consortium (including the Commission Services), CO = Confidential, only for members of the consortium (including the Commission Services)
Restraint UE = Classified with the classification level "Restraint UE" according to Commission Decision 2001/844 and amendments,
Confidential UE = Classified with the mention of the classification level "Confidential UE" according to Commission Decision 2001/844 and
amendments, Secret UE = Classified with the mention of the classification level "Secret UE" according to Commission Decision 2001/844 and
amendments
SOPHIA Deliverable (Page 0)

Document History
Issue Date Version Changes Made / Notes
29.10.2020 1.0 First draft
02.11.2020 1.1 Review by Alberto Ranavolo (INAIL)
05.11.2020 1.2 Review by Gundula Haber (DIN)
12.11.2020 2.0 Second draft for internal review

Review by Arash Ajoudani (iit), Matteo Bianchi (UNIPI), Andrea Cherubini (UM),
23.11.2020 2.1
Lars Fritzsche (imk), Miriam Funk (BauA)
24.11.2020 3.0 Third draft based on review by project partners for 2nd internal review
30.11.2020 Final Final version for submission

Contents
Contents .................................................................................................................................................................... 2
1. Deliverable Description ..................................................................................................................................... 6
2. Fundamentals of standardization ...................................................................................................................... 7
2.1. Types of standards .................................................................................................................................... 7
2.1.1. Consortium standard ........................................................................................................................ 8
2.1.2. Standard ........................................................................................................................................... 8
2.1.3. Specification ..................................................................................................................................... 9
2.2. Levels of Standardization ........................................................................................................................ 10
2.2.1. International Standardization Work ............................................................................................... 10
2.2.2. European Standardization Work .................................................................................................... 11
2.2.3. National standardization work ....................................................................................................... 12
2.3. Development of standards ..................................................................................................................... 12
2.3.1. Development of an ISO standard ................................................................................................... 12
2.3.2. Development of a European Standard (EN) ................................................................................... 13
2.3.3. Development of CEN Workshop Agreement (CWA)....................................................................... 15
3. Research and analysis of current standardization activities in the field of biomechanical risk and HRC ....... 16
3.1. Relevant standardization committees .................................................................................................... 16
3.1.1. International Standardization Work ............................................................................................... 16
3.1.2. European standardization .............................................................................................................. 20
3.2. Research of standards............................................................................................................................. 23
3.3. Analysis of standards .............................................................................................................................. 24
3.3.1. WP 1 End-User and Core Technology Requirements, Design Specifications and Acceptability..... 26
3.3.2. WP 2 Human Dynamic Modelling and Online Calibration Tools .................................................... 27
3.3.3. WP 3 Anticipatory Models for Ergonomically Cooperative Human-Robot Interaction.................. 28
3.3.4. WP 4 Fellow-Feeling Wearables: Smart and Wearable Monitoring and Feedback Interfaces....... 30
3.3.5. WP 5 Multi-Modal Perception and Interpretation ......................................................................... 32
3.3.6. WP 6 Shared Intelligence and Social Interaction ............................................................................ 33
3.3.7. WP 7 Interaction-Assistive Control for Fellow-Assistant Robots .................................................... 35
3.3.8. WP 8 Fellow-Assistant Robot Bodies .............................................................................................. 37

3.3.9. WP 9 Integration, Validation and Assessment ............................................................................... 39

3.4. Summary of the research and analysis of standards .............................................................................. 41
Annex I. Keywords for the standards research provided by project partners ........................................................... i
Annex II. Chosen ICS classes for the standards research........................................................................................... iv
Annex III. Standards rated with unsure by the WPs .................................................................................................. vi
Annex IV. ISO stage codes ....................................................................................................................................... xix
Annex V. Standards rated as important for all WPs ............................................................................................... xxii

Glossary
AMD Amendment
AWI Approved work item
BSI British Standards Institution
CD Committee draft
CEN European Committee for Standardization
CENELEC (CLC) European Committee for Electrotechnical Standardization
CWA CEN Workshop Agreement
DE Germany
DIN German Institute for Standardization
DKE German Commission for Electrical, Electronic & Information Technologies of DIN and VDE
DIS Draft International Standard
EN European Standard
ETSI European Telecommunications Standards Institute
FDIS Final draft international standard
HRC Human robot collaboration
ISO International Organization for Standardization
IEC International Electrotechnical Commission
ITU International Telecommunication Union
IX International
JTC Joint technical committee
NEN Netherlands Standards Institute
prEN Draft European Standard
SC Subcommittee
TC Technical committee
TR Technical report
WD Working draft
WG Working group
WI Work item

List of figures
Figure 1 Types of standards and specifications ......................................................................................................... 8
Figure 2 National, European and International standardization landscape ............................................................ 10
Figure 3 DIN's involvement in European and international standards committees ............................................... 12
Figure 4 Development of an EN ............................................................................................................................... 14
Figure 5 Development of a CWA ............................................................................................................................. 15
Figure 6 Dashboard of the SOPHIA standard research ............................................................................................ 24
Figure 7 Assessment sheet of the SOPHIA standard research for each work package ........................................... 25
List of tables
Table 1 Types of standards as defined in EN 45020 .................................................................................................. 9
Table 2 Current standardization projects of ISO/TC 159 ......................................................................................... 17
Table 5 Current standardization projects of CEN/TC 114........................................................................................ 20
The following keywords were given by WP 1 (Table 8): .......................................................................................... 26
Based on these keywords the following relevant standards were found (Table 9): ............................................... 26
The following keywords were given by WP 2 (Table 10): ........................................................................................ 27
Based on these keywords the following relevant standards were found (Table 11): ............................................. 27
Table 26 ISO 9241 Ergonomics of human-system interaction standard series from ISO/TC 159/SC 4 Ergonomics of
human-system interaction ...................................................................................................................................... 41
Table 27 Standards that were rated with important by several WPs ..................................................................... 44

1. Deliverable Description
This deliverable reports on the research and analysis of standardization activities in the field of biomechanical risk
and HRC. It belongs to Work Package 10 Standardization and shows the results of the first task T10.1
Standardization activities.
There are numerous standardization activities especially on the international and European level that are related
to biomechanical risk and HRC. Especially the standardization activities of the international committees
ISO/TC 159 Ergonomics, ISO/TC 299 Robotics and the European committee CEN/TC 122 Ergonomics are to be
highlighted. These activities and the fact that DIN (German Institute for Standardization), as a standardization
body, is part of these activities will allow an easier transfer of project results into standards under development
or to give input to already existing standards to the respective technical standardization committees.
Outputs from the SOPHIA project should be compatible with the state-of-the-art in the field of biomechanical risk
and HRC, which is presented by standards and standardization documents. Thus, relevant documents for the
envisaged SOPHIA activities and innovations were searched and assessed during this task. All together nearly 1000
standards were found during the research process. The assessment by the WP members reduced this number to
about 150 standardization documents, which are a relevant input for the project’s work.
The list of standardization documents that is provided and recommended to be considered for each work package
gives indications that several standards are of relevance for the work of the different work packages and the
project in general. Therefore, this list builds the basis for the upcoming activities in WP 10 Standardization
Activities and furthermore it can support the implemantation of the activities of the other work packages. As it
shows the current state-of-the-art, this standards database will be the basis to identify standardization gaps that
might be filled in by SOPHIA results. The identification of gaps and the standardization potentials within SOPHIA
will be the next task within WP 10.
This report is structured into two main chapters: Chapter 2 – “Fundamentals of standardization” gives a summary
of the fundamentals of standardization. Types of documents, the levels of standardization, the development of
standards and the various possibilities of participation in the process of standardization will be explained.
Chapter 3 – “Research and analysis of current standardization activities in the field of biomechanical risk and HRC”
is the main chapter of this report. It contains an overview of relevant technical committees, their scopes and their
current standardization projects on international and European level. Furthermore, the process of the standards
research is elaborated and for each work package relevant standards are listed. In Annex I to IV additional
information, such as the keywords for the standards research, chosen ICS classes, an overview of the standards
that were rated with unsure of their importance, a conclusive list of all standards rated as important for WPs and
ISO stage codes are given.

2. Fundamentals of standardization
A standard is a consensus-based technical document that provides rules, guidelines or characteristics for activities
or their results, reflecting the state-of-the-art. It should be based in the consolidated results of science, technology
and experience, aiming at the promotion of the optimum community benefits. 1
The application of standards has many positive benefits for a range of stakeholders, such as consumers,
enterprises, policy makers and researchers and innovators: 2
- Standards enhance the safety of products
- Standards promote the interoperability of products and services
- Standards facilitate trade by diminishing trade barriers
- Standards promote common understanding
- Standards support environmental sustainability
- Standards facilitate the uptake of innovation in the marketplace
- Standards reflect the outcome of research and development
There are several ways to standardization on international, European and national level. In this section, a brief
overview of these opportunities is given.
There are three official standardization organizations on the international level: The International Organization
for Standardization (ISO), the International Electrotechnical Commission (IEC), and the International
Telecommunication Union (ITU). They work on international standardization issues, which can be addressed to
them directly or via the European or national standardization bodies. On the European level, the European
Committee on Standardization (CEN), the European Committee on Electrotechnical Standardization (CENELEC)
and the European Telecommunication Standards Institute (ETSI) are in charge of the standardization work. On
national level many standardization organizations exist. Some countries have more than one organization, some
of them are financed by the government, and some are independent from them. They all work together under the
roof of the European and the international standardization bodies.
The focus of this report lies on the international and European standardization work, due to SOPHIA being a
European funded project and due to the fact that the standardization work is accumulating on the international
level.
2.1. Types of standards

In general, a standard is a technical document that defines requirements for products, services or processes. There
are, however, differences with regard to their creation, which are described below. For this purpose, different
types of standardization documents are shown in Figure 1 depending on their development time and their degree
of consensus.
1
CEN, “What is a standard”, https://www.cen.eu/work/ENdev/whatisEN/Pages/default.aspx, accessed 09 October
2020 and DIN, “A brief introduction to standards, https://www.din.de/en/about-standards/a-brief-introduction-to-
standards, accessed 09 October 2020; The formal definition of a standard by ISO and IEC,
https://www.iso.org/sites/ConsumersStandards/1_standards.html, accessed 09 October.
https://www.iso.org/sites/ConsumersStandards/1_standards.html
2
CEN, Information leaflet: “CEN Compass - The world of European Standards”,
https://www.cen.eu/news/brochures/brochures/Compass.pdf, accessed 09 October 2020 and European Commission,
“Benefits of standards”, https://ec.europa.eu/growth/single-market/european-standards/policy/benefits_en,
accessed 09 October 2020.

Figure 1 Types of standards and specifications
2.1.1. Consortium standard

Consortium standards as shown in Figure 1 are usually developed in a closed circle of experts. One of the
characteristics of these standards is that not all interested parties are involved in the drafting process. The closed
body of experts can, for example, be an industry-specific consortium formed by one or various companies.
Although these documents have some characteristics of a standard, such as defined procedures or documentation
rules, consortium standards are often not freely accessible and are developed in private.
2.1.2. Standard
The work of standardization organizations such as ISO/IEC, CEN-CENELEC and DIN focuses entirely on the
transparent development of standardization documents involving an open body of experts. According to
DIN EN 45020 a standard is defined as follows:
"A document, established by consensus and approved by a recognized body that provides, for common and
repeated use, rules, guidelines or characteristics for activities or their results, aimed at the achievement of the
optimum degree of order in a given context”.
Consensus in this case means the general agreement of all interested parties, characterized by the absence of
sustained opposition to key content. The core objective of consensus is to take into account the views of all
interested parties concerned and to eliminate any counterarguments.
It is important to clarify that there are various types of existing standards, focusing on different topics of interest;
e.g. related to terminology or to testing. In EN 45020 “Standardization and related activities - General vocabulary”
some common types of standards are defined as shown in Table 1.

Table 1 Types of standards as defined in EN 45020
Basic standard Wide-ranging coverage or contains general provisions for one particular field.
Terminology standard Concerned with terms, accompanied by their definitions etc.
Concerned with testing methods, sometimes supplemented with other provisions

Testing standard
related to testing.
Specifies requirements to be fulfilled by a product or a group of products to
Product standard
establish its fitness of purpose.
Specifies requirements to be fulfilled by a process to establish its fitness of
Process standard
purpose.
Specifies requirements to be fulfilled by a service to establish its fitness of
Service standard
purpose.
Specifies requirements concerned with the compatibility of products and systems
Interface standard
at their point of connection.
Standard on data to be Contains a list of characteristics for which values or other data are to be stated
provided for specifying the product, process or service.
2.1.3. Specification
A specification is a document agreed by the participants of a temporary workshop, which is designed to meet an
immediate need and form the basis for future standardization activities. The workshop is open to the direct
participation of anyone with an interest in the development of the agreement. There is no geographical limit on
participation. In other words, stakeholder involvement is limited to those who are directly interested in the topic.
The direct participation of interested parties and the rapid development opportunities offered by a specification
are considered to be particularly attractive for research projects which have to deliver results within the duration
of their project lifetime. The development of a specification is fast and flexible, on average between 10 and 12
months. Although a specification is developed outside the normal technical body structure, it is important to
ensure the coherence of all the standardization regulations in order to protect the credibility of international,
European and national standardization. A specification does not have the status of a standard. It involves no
obligation at national level. A specification shall not conflict with standards.
The different national standardization bodies have different names for within workshops generated specifications.
A national specification by DIN is called DIN SPEC (e.g. DIN SPEC 91392). Specifications can also be developed
within standards committees if, for example, no final consensus can be reached. These documents are then
referred to as CEN or ISO TS (Technical Specifications). 3
3
DIN, DIN SPEC, https://www.din.de/en/innovation-and-research/din-spec-en, accessed 13 October 2020 and CEN,
Technical Specifications, https://www.cen.eu/work/products/TS/Pages/default.aspx, accessed 13 October 2020.

2.2. Levels of Standardization

Every country participating in the European and international standardization world of CEN, CENELEC, ISO and IEC
follows the so called delegation principle. National standardization bodies, such as DIN in Germany, NEN in the
Netherlands or BSI in the UK send representatives to the European or international standardization committees
of CEN, CENELEC, ISO and IEC to represent their national interests (see Figure 2).
Figure 2 National, European and International standardization landscape
An important aspect of standardization work is to ensure that the documents do not contradict each other. The
importance of European and international standardization has increased noticeably in recent years. For DIN as
example, around 90% of all standardization projects are nowadays carried out at European and international level.
Considering the international and European standardization landscape, the Vienna and Dresden Agreements are
highly relevant. Those agreements between CEN and ISO (Vienna), CENELEC and IEC (Dresden) have the objective
to carry out work at one level of standardization (where possible), and use parallel voting procedures to achieve
simultaneous adoption as ISO/IEC standards and European standards (EN). 4
2.2.1. International Standardization Work

The International Organization for Standardization (ISO) 5 and the International Electrotechnical Commission (IEC) 6
are the responsible standardization organizations on the global level. The International Telecommunications
4
CEN – CENELEC, “International cooperation”,
https://www.cencenelec.eu/intcoop/StandardizationOrg/Pages/default.aspx, accessed 09 October 2020.
5
ISO, https://www.iso.org/home.html, accessed 11 October 2020.
6
IEC, https://www.iec.ch/, accessed 11 October 2020.

Union (ITU) is the United Nations specialized agency in terms of information and telecommunication
technologies. 7
ISO and IEC are made up of the national standardization organizations, with DIN and DKE representing German
interests on an international level. The ITU, on the other hand, is a special unit of the United Nations, whose 191
member states develop recommendations together with companies from the private sector and other regional
and national organizations. Only when they are adopted by normative organizations such as ISO, ANSI (USA) or
ETSI as well as by national regulatory authorities such as the Federal Network Agency in Germany do they acquire
the character of standards.
ISO has recognized regional standardization organizations representing Africa, the Arab countries, the area
covered by the Commonwealth of Independent States, Europe, Latin America, the Pacific area, and the South-East
Asia nations. The national bodies commit themselves to adopt ISO standards unchanged as national standards and
to develop deviating standards only when there are no suitable ISO standards that can be adopted nationally. In
the case of IEC, similar agreements apply. 8
2.2.2. European Standardization Work

At the European level, based on the EU Regulation 1025/2012 on European standardization, standards work is
carried out by the European Committee for Standardization (CEN), the European Committee for Electrotechnical
Standardization (CENELEC) and the European Telecommunication Standards Institute (ETSI). 9
The main goal of standardization at European level is to harmonize the national standards of the member states
of the European Union (EU). This includes on the one hand the uniform transfer of international standards and on
the other hand the creation of European standards. The European standardization organizations CEN 10 (European
Committee for Standardization), CENELEC 11 (European Committee for Electrotechnical Standardization) and ETSI 12
(European Telecommunications Standards Institute) are responsible for the organization of European
standardization work. CEN is responsible for all non-electronic activities and CENELEC for electrotechnical
standardization activities. ETSI is responsible for the standardization activities in the field of telecommunications
at European level.
CEN and CENELEC are made up of the national standardization organizations, with for example DIN and DKE
representing German interests at European level. The other members are made up of the national standardization
organizations of the EU and EFTA (European Free Trade Association) member states as well as those states that
intend to become members. In addition, there is particularly strong cooperation between CEN and CENELEC. In
contrast, the members of ETSI are directly European companies, institutes and organizations. 13
7
ITU, https://www.itu.int/en/Pages/default.aspx, accessed 11 October 2020.
8
ISO, “National, regional and international standards and how they relate to regulatory regimes”,
https://www.iso.org/sites/ConsumersStandards/1_standards.html, accessed 11 October 2020.
9
EUR-Lex, Regulation (EU) No 1025/2012 of the European Parliament and of the Council of 25 October 2012 on
European standardisation, https://eur-lex.europa.eu/legal-content/EN/TXT/?uri=CELEX:32012R1025, accessed
October 11 2020.
10
CEN, www.cen.eu, accessed 12 October 2020.
11
CENELEC, www.cenelec.eu, accessed 12 October 2020.
12
ETSI, www.etsi.org, accessed 12 October 2020.
13
CENELEC, FAQs, https://www.cenelec.eu/faq/faq_entry.htm.bak, accessed October 13 and ETSI, “Membership of
ETSI”, https://www.etsi.org/membership, accessed 12 October 2020.

2.2.3. National standardization work

National standardization bodies publish national standards and are members of the European and international
standardization bodies. One example is DIN, the national standardization body of Germany. 14 Anyone and any
organization within Germany can participate in DIN. All incoming requests are reviewed and it is then decided by
the corresponding committee whether there is a demand in the affiliated industry, whether European or
international standardization activities already exist and on which level the proposed work shall take place.
Subjects that are ongoing on the European level will initiate a standstill clause on the national level.
If the document is developed on national level, technical committees (TCs) are responsible for the technical input.
TCs are open for participation of any expert. They include members of each group of interest such as research,
industry and associations.
2.3. Development of standards

2.3.1. Development of an ISO standard
International Standards are developed by ISO (or IEC, for electro technical standards) according to the national
delegation principle, with each country sending a delegation of experts to represent the national standpoint. This
standpoint is developed in national committees that "mirror" the international committees. These mirror
committees decide whether or not an international standard should be adopted as a national standard; this is
voluntary, in contrast to European standards, which must be adopted nationally.
Figure 3 DIN's involvement in European and international standards committees
International standardization work begins with a "new work item proposal". Such proposals can be submitted by:
- A member of the International Organization for Standardization (ISO), or – in electro technical
standardization – by a member of the International Electrotechnical Commission (IEC)
- A working body of ISO or IEC
- An international organization that has liaison status
- The Technical Management Board of ISO or IEC
- The ISO or IEC Secretary General
A simple majority of national standardization organizations with an interest in the subject matter is required for
the proposal to be approved. In addition, a sufficient number of these organizations must also agree to participate
in the work. Only then the proposal will be accepted and the work on the standard can begin. Within two months
14
DIN, https://www.din.de/en, accessed 12 October 2020.

a "committee draft" is circulated for voting among the members of the responsible technical committee. A draft
is drawn up taking any comments received into consideration.
The draft standard is then made available to all ISO (or IEC) members, who have three months to submit their
national standpoint and comments. Within a two-month period, anyone may comment on this draft. The national
mirror committee discusses all comments received and submits the consolidated national viewpoint to ISO.
If the criteria for approval are fulfilled during the voting procedure, the draft is then published as an international
standard. If they are not fulfilled, or if the responsible working group decides so, a final draft is published. The ISO
or IEC members then have two months to decide whether or not to accept this as an international standard. No
comments are submitted during this voting period. Acceptance of the final draft requires a two-thirds majority of
all active members participating, and not more than a quarter of all votes may be negative. Ratification of an
international standard takes place following positive voting. There is no obligation for national standardization
bodies as part of ISO or IEC to adopt international standards as national standards. 15
2.3.2. Development of a European Standard (EN)

European Standards are developed by CEN, CENELEC (for electrotechnical standards) or ETSI (for standards in
telecommunications). Work at CEN and CENELEC is based, as on international level, on the national delegation
principle: each country sends a delegation of experts to represent the national standpoint in the European
committees. This standpoint is developed in national committees that "mirror" the European committees. By
taking the secretariat of a European committee, national members can play a leading role in the committee's
work. It is often decisive for national interests to be effectively represented at an early stage of the development
of a European Standard.
Figure 4 depicts the development procedure for a European Standard.
European standardization work begins with a proposal for a standard, which might come from a member of the
European standards organizations (CEN/CENELEC/ETSI), the European Commission, or another European or
international organization.
Acceptance for the proposal requires for CEN:
1. 55 % or more of the votes cast (abstentions not counted) are in favour;
2. the population of the countries of the Members having voted positively reaches 65 % or more of the
population of the countries of all Members having voted (abstentions not counted).
Acceptance for the proposal requires for CENELEC:

1. a simple majority of the votes cast (abstentions not counted) is in favour; and
2. 71% or more of the weighted votes cast (abstentions not counted) are in favour.
In addition, a sufficient number of national standardization bodies must agree to participate, after having checked
with their stakeholders that there is sufficient need - and sufficient financing - for carrying out the necessary work
in the national mirror committees. Only then will the proposal be accepted and work on the standard can begin.
15
ISO/IEC Directives, Part 1, Procedures for the technical work,
https://www.iso.org/sites/directives/current/part1/index.xhtml, accessed October 16 2020.

If there is an existing international standard on the subject, it will be adopted unchanged as a European Standard.
If this is not the case, the responsible working body will draw up a manuscript for the draft standard (prEN). The
draft standard is distributed to the national standardization organizations for commenting in what is called the
"public enquiry" stage. National comments are to be submitted within three months. The national mirror
committee discusses all comments received and submits the consolidated national standpoint. On the basis of the
comments received, the responsible working group can either decide to publish the standard or to draw up and
issue a final draft. In a formal vote over a two-month period, the members then decide whether to accept this
final draft as a European Standard. There is no public enquiry for the final draft. Approval of the final draft requires
at least 65% of the weighted votes of CEN members and at least 71% of the weighted votes of CENELEC members.
Ratification of a European Standard takes place following positive voting.
After ratification the European Standard must be adopted unchanged as a national standard and any conflicting
national standards must be withdrawn. In addition, a standard that has been developed at international level can
be simultaneously adopted as a European Standard by means of parallel voting procedures in accordance with the
Vienna Agreement. Such standards are also to be automatically adopted by the national standards organizations. 16
Figure 4 Development of an EN
16
DIN, “How are European standards developed”, https://www.din.de/en/about-standards/din-standards, CEN,
“Developing a European Standard”, https://www.cen.eu/work/ENdev/how/Pages/default.aspx, CEN – CENELEC,
Internal Regulations Part 2, https://boss.cen.eu/ref/IR2_E.pdf, accessed 20 October 2020.

2.3.3. Development of CEN Workshop Agreement (CWA)

“A CWA is an agreement developed and approved in a CEN Workshop; the latter is open to the direct participation
of anyone with an interest in the development of the agreement. […] A CWA does not have the status of a European
Standard. It involves no obligation at national level.” 17
There is a multiple step process described by CEN to develop and publish a CWA as shown in Figure 5.
It starts with the request of an interested party to a CEN member or to the CEN-CENELEC Management Centre
(CCMC). For doing so, the proposer needs to prepare a draft project plan, which describes what the objective of
the CEN Workshop is. Afterwards, the CEN-CENELEC Management Centre announces the proposal for a new CEN
Workshop on the CEN Website for at least 30 days. This is for information and transparency reasons. Comments
on the draft project plan can be made and shall be considered in the further development of the document. The
next step is the kick-off meeting, where the proposed project plan is approved and the chairperson for the CEN
Workshop is elected. Furthermore, the formal launch of the Workshop happens at the kick-off meeting and the
formal registration of the participants, who want to work on the CWA takes place. The workshop participants
develop a draft CWA according to the specifications laid down in the project plan. The draft CWA is made available
for comments to the registered workshop participants.
The CWA can be understood as a test-document. European companies can work with it and if it is found to be
useful it will likely be used as basis for a new European Standard. Since a CWA is created in a rather short time, it
is an ideal tool for innovations and research projects. 18
Figure 5 Development of a CWA
17
CEN, “CWA - CEN Workshop Agreement, https://www.cen.eu/work/products/CWA/Pages/default.aspx, accessed 21
October 2020.
18
CEN-CENELEC, CEN-CENELEC Guide 29 “CEN/CENELEC Workshop Agreements - A rapid way to standardization”,
ftp://ftp.cencenelec.eu/EN/EuropeanStandardization/Guides/29_CENCLCGuide29.pdf, accessed 22 October 2020.

3. Research and analysis of current standardization activities in the field of

biomechanical risk and HRC
3.1. Relevant standardization committees
For the comprehensive work on standardization it is highly important to have an overview of the standardization
landscape in the field of biomechanical risk and HRC. It is the only way to make sure that deliverables and results
of task 10.1 will address the right stakeholders and that custom-fit standards will be developed by and with the
support of the responsible committees. First of all, the relevant standardization committees from ISO, CEN,
CENELEC, DIN and DKE were identified. In the field of human-robot collaboration there are committees on the
international, national and European level. The development of standards however, is especially taking place in
the international committees ISO/TC 159 Ergonomics, ISO/TC 299 Robotics and in the European committee
CEN/TC 122 Ergonomics. The actual development of documents follows the usual delegation principle and is done
in national mirror committees.
For each TC current standardization projects are listed. Depending on the stage code, draft standards can be
commented on by the members of national standardization bodies. These draft standards are highlighted in green
in the following sections 3.1.1 and 3.1.2. An overview of the ISO stage codes are given in Annex IV.
3.1.1. International Standardization Work

ISO/TC 159 Ergonomics 19
ISO/TC 159 is active in the standardization field of ergonomics, in particular, general ergonomics principles,
anthropometry and biomechanics, ergonomics of human system interaction and ergonomics of the physical
environment, addressing human characteristics and performance, and methods for specifying, designing and
evaluating products, systems, services, environments and facilities. Excluded is the standardization of purely
technical matters not related to human characteristics and abilities. This TC has published 143 ISO standards so
far and currently works on 25 ISO standards (see Table 2 for an overview of the current standardization projects).
The SOPHIA consortium will assess these listed standard drafts regarding their relevance for the project in the
upcoming months as part of the standardization strategy.
ISO/TC 159 has four sub committees:
- ISO/TC 159/SC 1 General ergonomics principles
- ISO/TC 159/SC 3 Anthropometry and biomechanics
- ISO/TC 159/SC 4 Ergonomics of human-system interaction
- ISO/TC 159/SC 5 Ergonomics of the physical environment
19
International Organization for Standardization, "ISO/TC 159 Ergonomics",
https://www.iso.org/committee/53348.html, accessed 21 September 2020.

Table 2 Current standardization projects of ISO/TC 159

Highlighted in green: standard drafts that can be commented on
Standard no. Title Stage Code

ISO/TC 159/SC 3 Anthropometry and biomechanics
ISO/DIS 11228-1 Ergonomics — Manual handling - Part 1: Lifting, lowering and carrying 40.99
ISO 11228- Ergonomics — Manual handling — Part 2: Pushing and pulling —
40.60
2:2007/DAMD 1 Amendment 1
Safety of machinery — Anthropometric requirements for the design of
ISO/DIS 14738 40.60
workstations for industries and services
Principles for selecting and using test persons for testing anthropometric
ISO/CD 15537 30.00
aspects of industrial products and designs
ISO/CD TR 23076.2 Ergonomics — Recovery Model for cyclical industrial work 30.99
Safety of machinery — Ergonomic principles for the design of sorting
ISO/AWI TR 23474 cabins intended for the manual sorting of dry household and similar waste 20.00
originating from selective collection
Ergonomics — Application of ISO 11226, the ISO 11228 series and ISO/TR
ISO/PRF TR 23476 50.00
12295 in the agricultural sector
ISO/CD 23979 Ergonomics — Accessible design — Ease of operation 30.60
Accuracy evaluation protocol for daily living walking speed extracted from
ISO/WD 24227 20.00
sensor systems that measure human body motion
ISO/TC 159/SC 4 Ergonomics of human-system interaction
Ergonomics of human-system interaction- Part 20: An ergonomic approach to
ISO/CD 9241-20 30.60
accessibility within the ISO 9241 series
Ergonomics of human-system interaction - Part 221: HCD Process Assessment
ISO/AWI 9241-221 20.00
Model (PAM) and Process Reference Model (PRM)
Ergonomics of human-system interaction - Part 311: Guidance on application
ISO/WD TR 9241-311 20.00
of ISO 9241-307: LCD screens for workstations
Ergonomics of human-system interaction - Part 380: Survey result of HMD
ISO/CD TR 9241-380 30.00
(Head-Mounted Displays) characteristics related to human-system interaction
Ergonomics of human-system interaction - Part 381: Requirements for optical
ISO/WD 9241-381 20.00
characteristics of head-mounted displays related to human-system interaction
Ergonomics of human-system interaction - Part 382: General requirements for
ISO/WD 9241-382 reducing undesirable biomedical effects during visual interactive tasks using 20.00
head-mounted displays
Ergonomics of human-system interaction - Part 430: Recommendations for the
ISO/DTS 9241-430 30.60
design of non-touch gestural input for the reduction of biomechanical stress
Ergonomics of human-system interaction - Part 610: Impact of light and
ISO/CD TR 9241-610 30.60
lighting on humans
Ergonomics of human-system interaction - Part 971: Guidance on physical
ISO/FDIS 9241-971 50.20
(tactile/haptic) accessibility

ISO/TC 159/SC 5 Ergonomics of the physical environment

Ergonomics of the thermal environment — Analytical determination and
ISO/DIS 7730 interpretation of thermal comfort using calculation of the PMV and PPD indices 40.99
and local thermal comfort criteria
ISO/DIS 8996 Ergonomics of the thermal environment — Determination of metabolic rate 40.20
Ergonomics of the thermal environment — Evaluation of thermal
ISO/DIS 14505-4 environments in vehicles — Part 4: Determination of the equivalent 40.20
temperature by means of a numerical manikin
Human performance in physical environments — Part 1: A performance
ISO/AWI TR 23454-1 20.00
framework
ISO/DIS 23456-1 Dynamic signs in physical environments — Part 1: General requirements 40.20
Ergonomics — Accessible design — Method for creating colour combinations
ISO/DIS 24505 40.99
taking account of age-related changes in human colour vision
ISO/TC 199 Safety of machinery 20

ISO/TC 299 is active in the standardization field of basic concepts and general principles for safety of machinery
incorporating terminology, methodology, guards and safety devices within the framework of ISO / IEC Guide 51
and in cooperation with other ISO and IEC technical committees. Excluded are product safety standards, as defined
in ISO / IEC Guide 51, and which are explicitly covered by the work of other ISO or IEC technical committees. This
TC has published 43 ISO standards so far and currently works on 8 ISO standards. Table 3 gives an overview of the
current standardization projects.

Safety of machinery — Integration of machinery into a system — Basic
ISO/AWI 11161 10.99
requirements
Safety of machinery — Safety-related parts of control systems — Part 1:
ISO/DIS 13849-1 40.60
General principles for design
Safety of machinery — Positioning of safeguards with respect to the
ISO/WD 13855 20.00
approach of the human body
Safety of machinery — Interlocking devices associated with guards —
ISO/DIS 14119 40.00
Principles for design and selection
Safety of machinery — Mechanical safety data for physical contacts
ISO/WD TR 21260 20.20
between moving machinery or moving parts of machinery and persons
ISO/CD TR 22053.2 Safety of machinery — Supporting protective system 30.60
Safety of machinery — Relationship with ISO 12100 — Part 1: How ISO
ISO/PRF TR 22100-1 50.20
12100 relates to type-B and type-C standards
20
International Organization for Standardization, "ISO/TC 199 Safety of machinery",
https://www.iso.org/committee/54604.html,accessed 21 September 2020.

Safety of machinery — Relationship with ISO 12100 — Part 5: Implications

ISO/CD TR 22100-5 30.60
of embedded Artificial Intelligence-machine learning
ISO/TC 299 Robotics 21

ISO/TC 299 is active in the standardization field of robotics in the manufacturing, healthcare and consumer
domain, excluding toys and military applications. They develop standards on for example personal care robots,
service robots, industrial robots, mobile robots, medical electrical equipment, and collaborative robots. This TC
has published 23 ISO standards so far and currently works on 9 ISO standards. Table 4 gives an overview of the
current standardization projects.

ISO/WD 5363 Robotics — Test methods for Walking RACA Robot 20.00
ISO/DIS 8373 Robotics — Vocabulary 40.60
Robotics — Safety requirements for robot systems in an industrial
ISO/DIS 10218-1 40.60
environment — Part 1: Robots
Robotics — Safety requirements for robot systems in an industrial
ISO/DIS 10218-2 environment — Part 2: Robot systems, robot applications and robot cells 40.00
integration
Robots for industrial environments — Automatic end effector exchange
ISO/DIS 11593 40.60
systems — Vocabulary and presentation of characteristics
Robotics — Performance criteria and related test methods for service
ISO/DIS 18646-3.2 40.20
robots — Part 3: Manipulation
Robotics — Performance criteria and related test methods for service
ISO/DIS 18646-4 40.60
robots — Part 4: Lower-back support robots
ISO/FDIS 22166-1 Robotics — Modularity for service robots — Part 1: General requirements 50.00
Robotics — Services provided by service robots — Safety management
ISO/WD 31101 20.00
systems requirements
21
ISO, "ISO/TC 299 Robotics", https://www.iso.org/committee/5915511.html,
https://committee.iso.org/home/tc299, accessed 21 September 2020.

ISO/IEC JTC 1 22
The joint technical committee of the International Organization for Standardization (ISO) and the International
Electrotechnical Commission (IEC) ISO/IEC JTC 1 is active in the standardization fields of information
technology (IT) and Information and Communications Technology (ICT). The standards research and analysis has
revealed that the following sub committees are especially of interest for SOPHIA:
- ISO/IEC JTC 1/SC 7 Software and systems engineering

- ISO/IEC JTC 1/SC 22 Programming languages, their environments and system software interfaces
- ISO/IEC JTC 1/SC 35 User interfaces
- ISO/IEC JTC 1/SC 37 Biometrics
3.1.2. European standardization

CEN/TC 114 Safety of machinery 23
CEN/TC 114 is active in the standardization of general principles for safety of machinery incorporating terminology
and methodology. Among other standardization projects, this TC mirrors the work of ISO/TC 199 Safety of
machinery and thus reflects internationally developed standards on the European level. This TC has published 43
CEN standards so far and currently works on 5 CEN standards. Table 5 gives an overview of the current
standardization projects.
Table 5 Current standardization projects of CEN/TC 114

FprCEN ISO/TR Safety of machinery - Relationship with ISO 12100 - Part 1: How ISO 12100 Under
22100-1 relates to type-B and type-C standards (ISO/DTR 22100-1:2020) Approval
Safety of machinery - Integration of machinery into a system - Basic Under
prEN ISO 11161 rev
requirements Drafting
Safety of machinery - Safety-related parts of control systems - Part 1: Under
prEN ISO 13849-1
General principles for design (ISO/DIS 13849-1:2020) Approval
Safety of machinery - Positioning of safeguards with respect to the Under
prEN ISO 13855 rev
approach of the human body Drafting
Safety of machinery - Interlocking devices associated with guards - Under
prEN ISO 14119 rev
Principles for design and selection Drafting
22
ISO/IEC JTC 1, https://www.iso.org/committee/45020.html, accessed 22 September 2020.
23
European Committee for Standardization, " CEN/TC 114 Safety of machinery ",
https://standards.cen.eu/dyn/www/f?p=204:7:0::::FSP_ORG_ID:6096&cs=149351BC7EBFB63CC332FEC57AAAAEF2B
accessed 23 September 2020.

CEN/TC 122 Ergonomics 24
CEN/TC 122 is active in the standardization field of ergonomics principles and requirements for the design of work
systems and work environments, including machinery and personal protective equipment, to promote the health,
safety and well-being of the human operator and the effectiveness of the work systems. Among other
standardization projects, this TC mirrors the work of ISO/TC 159 Ergonomics and thus reflects internationally
developed standards on the European level. This TC has published 130 CEN standards so far and currently works
on 14 CEN standards. Table 6 gives an overview of the current standardization projects.

Ergonomics data and guidelines for the application of ISO/IEC Guide 71 to
FprCEN ISO/TR Under
products and services to address the needs of older persons and persons
22411 Approval
with disabilities (ISO/DTR 22411:2020)
Safety of machinery - Guidance for the application of ergonomics standards
prEN 13861 rev Preliminary
in the design of machinery
Under
prEN 17558 Ergonomics - Ergonomics of PPE ensembles
Enquiry
Safety of machinery - Ergonomic design principles - Part 1: Terminology
prEN 614-1 rev Preliminary
and general principles
Safety of machinery - Ergonomic design principles - Part 2: Interactions
prEN 614-2 rev Preliminary
between the design of machinery and work tasks
Under
prEN ISO 13731 rev Ergonomics of the thermal environment - Vocabulary and symbols
Drafting
Safety of machinery - Anthropometric requirements for the design of Under
prEN ISO 14738
workstations for industries and services (ISO/DIS 14738:2020) Approval
Principles for selecting and using test persons for testing anthropometric Under
prEN ISO 15537 rev
aspects of industrial products and designs Drafting
Ergonomics of the thermal environment - Analytical determination and
Under
prEN ISO 7730 rev interpretation of thermal comfort using calculation of the PMV and PPD
Drafting
indices and local thermal comfort criteria
Ergonomics of the thermal environment - Analytical determination and
Under
prEN ISO 7933 interpretation of heat stress using the predicted heat strain model (ISO/DIS
Approval
7933:2018)
Ergonomics of the thermal environment - Determination of metabolic rate Under
prEN ISO 8996
(ISO/DIS 8996:2020) Approval
prEN ISO 9241-20 Ergonomics of human-system interaction - Part 20: An ergonomic approach Under
rev to accessibility within the ISO 9241 series Drafting
24
European Committee for Standardization, "CEN/TC 122 Ergonomics",
https://standards.cen.eu/dyn/www/f?p=204:7:0::::FSP_ORG_ID:6104&cs=17B26A46FEC153FA622114FF1C49C7C75,

Ergonomics – Demands and Availability of anthropometric and strength Under

WI=00122266
data of children in Europe Drafting
Safety of machinery - Part 3: Ergonomic principles for the design of mobile
WI=00122264 Preliminary
machinery
CEN/TC 310 Advanced Manufacturing Technologies 25
CEN/TC 310 is active in the standardization field of automation systems and technologies and their application
and integration to ensure the availability of the standards required by industry for design, sourcing, manufacturing
and delivery, support, maintenance and disposal of products and their associated services. Areas of
standardization may include enterprise modelling and system architecture, information and its supporting
systems, robotics for fixed and mobile robots in industrial and specific non-industrial environments, automation
and control equipment and software, human and mechanical aspects, integration technologies and system
operational aspects. These standards may utilise other standards and technologies beyond the scope of CEN/TC
310, such as machines, equipment, information technologies, multi-media capabilities, and multi-modal
communications networks. This TC does currently not work on European standards but mirrors the international
work of for example ISO/TC 299 Robotics. This TC has published 6 CEN standards adapting ISO standards so far
and currently works on 2 CEN standards adapting ISO standards. Table 7 gives an overview of the current
standardization projects.

Robotics - Safety requirements for robot systems in an industrial Under
prEN ISO 10218-1
environment - Part 1: Robots (ISO/DIS 10218-1:2020) Approval
prEN ISO 10218-2 Robots and robotic devices - Safety requirements for industrial robots Under
rev - Part 2: Robot systems and integration Approval
25
European Committee for Standardization, "CEN/TC 310 Advanced Manufacturing Technologies",
https://standards.cen.eu/dyn/www/f?p=204:7:0::::FSP_ORG_ID:6291&cs=1FB8DE3E2415169C5A629164496F80A52,

3.2. Research of standards

The objective of the research and analysis of existing standards is to give an overview of the current
standardization activities in the field of biomechanical risk and HRC. This shall be used as input for the different
working groups as well as support for the identification of standardization gaps.
The research of existing standards started with the identification of relevant keywords in the field of
biomechanical risk and HRC. This was done by the members of each working group, who agreed on the keywords
shown in Annex I. The research was conducted by using the search engine Perinorm. Beside the standards of
European national organizations like DIN, NEN or BSI, and Non-European national organizations (e. g. from Brazil,
USA or South Africa), the database also includes standards from the European organizations CEN, CENELEC, ETSI
and international organizations such as ISO, IEC and ITU. In case of national standards, it has to be stated that due
to language barriers mostly those providing at least an English title are considered. Using a key word search option
a list of standards can be generated, which then can be downloaded in the form of an Excel file.
Based on the keywords given by the project partners approximately 40 000 standards, specifications and
standardization projects were found. To narrow down this number to a realistic amount of entries, the
international classification for standards (ICS) was chosen as additional criterion. The international classification
for standards (ICS) is intended to serve as a structure for catalogues of international, regional and national
standards and other normative documents, and as a basis for standing-order systems for international, regional
and national standards. 26 For SOPHIA relevant ICS classes are listed in Annex II. Applying these relevant ICS classes
narrowed down the number to 999 standards, specifications and standardization projects. Additional standards
from the following sources were added:
- the SOPHIA proposal

- D4.1 Preliminary report on Interactive Robotics´standardization and benchmarking strategies
from the EU-Horizon-2020 funded project INBOTS 27
- Toolkit from the EU-Horizon-2020 funded project COVR 28
- Additional standards provided from feedback by individual project partners
By deleting duplicate and outdated standards, specifications and standardization projects, the final database
contained 897 items.
An Excel template especially developed for the research of standards allows the presentation of a dashboard
which gives an overview of relevant information around the results of the standards research. See Figure 6 for the
dashboard, which has been distributed in the SOPHIA consortium.
26
ICS edition 7, publication by ISO, Purpose of the ICS, p.3.
https://www.iso.org/files/live/sites/isoorg/files/archive/pdf/en/international_classification_for_standards.pdf,
accessed 28 August 2020. All ICS classes are listed here: https://www.iso.org/standards-catalogue/browse-by-ics.html
27
INBOTS, D4.1, http://inbots.eu/publications/public-documents/ , accessed 28 August 2020.
28
COVR, toolbox, https://toolkit.safearoundrobots.com/toolkit/home, accessed 28 August 2020.

Figure 6 Dashboard of the SOPHIA standard research
The dashboard shows a list of general information (e. g. number of standards found or number of responsible TCs)
as well as Type of Standards, Level of Standards and Active Countries and it provides various graphics to support
those. Additionally, it is possible to use the key word search to receive a filtered list of suitable standards.
3.3. Analysis of standards

After the research phase, the analysis of the standards followed. For this purpose, all WPs were handed out an
assessment sheet as shown in Figure 7. Based on the keywords given by each WP, the overall list of standards
relevant for SOPHIA was filtered accordingly and each WP leader was asked to evaluate the shown standards in
consultation with their WP partners. Each standard could be rated with either "important", "unimportant" or
“unsure” in case a rating was not possible at that time. A comment could be added to specify the made selection.

Figure 7 Assessment sheet of the SOPHIA standard research for each work package
The evaluation of the filled out assessment sheets has shown that so far no partner has been actively involved in
standardization. In the following chapters 3.3.1 to 3.3.9 the keywords stated by each WP and all matching
standards rated as important by that WP are listed. Standards rated with unsure are depicted in Annex III.
Furthermore, the table in Annex V shows all standards rated as important for all WPs. This table can be used to
further identify standards that are important for the whole project consortium regardless the specific focus of
each WP.

3.3.1. WP 1 End-User and Core Technology Requirements, Design Specifications

and Acceptability
The following keywords were given by WP 1 (Table 8):
human-robot interaction usability

human-robot collaboration acceptability
interaction design acceptance measurement
interaction quality implementation process
Based on these keywords the following relevant standards were found (Table 9):
Standard no. Title TC

ISO
Ergonomics requirements for office work with visual display
ISO 9241-11 ISO/TC 159 Ergonomics
terminals (VDTs) - Part 11: Usability: Definitions and concepts
Ergonomics requirements for office work with visual display
terminals (VDTs) - Part 14: Menu dialogues
ISO 9241-161 Part 161: Guidance on visual user-interface elements ISO/TC 159 Ergonomics
Ergonomics of human-system interaction - Part 220:
ISO 9241-220 Processes for enabling, executing and assessing human- ISO/TC 159 Ergonomics
centred design within organizations
Ergonomics of human-system interaction - Part 304: User
performance test methods for electronic visual displays
Principles and requirements for physical input devices
Ergonomics of human-system interaction - Part 420: Selection
of physical input devices
Ergonomics of the physical environment - Subjective
ISO 10551 ISO/TC 159 Ergonomics
judgement scales for assessing physical environments

3.3.2. WP 2 Human Dynamic Modelling and Online Calibration Tools

Human modelling Kinodynamic state monitoring

External forces (loads) estimation Ergonomic factors
Human body parameters identification Model calibration

ISO
Ergonomic design of control centres - Part 2: Principles for
the arrangement of control suite
Ergonomic design of control centres - Part 7: Principles for
the evaluation of control centres
IEC
IEC/TC 57 Power systems
Telecontrol equipment and systems; part 3: interfaces
IEC 60870 management and associated
(electrical
information exchange
Calibration of optical time-domain reflectometers (OTDR) -
Part 1: OTDR for single-mode HD 546.3 S1 - Telecontrol
IEC 61746-1 IEC/TC 86 Fibre optics
equipment and systems; part 3: interfaces (electrical
characteristics) fibres
IEC/TC 100 Sound, vision and
IEC 61842 Microphones and earphones for speech communications multimedia systems and
equipment
Radiation protection instrumentation - X-ray systems for
IEC/SC 45B Radiation
IEC 62463 the screening of persons for security and the carrying of
protection instrumentation
the illicit items
Use case methodology - Part 3: Definition of use case
IEC 62559-3 IEC/SyC Smart Energy
template artefacts into an XML serialized format
ISO/IEC
Information technology - UPnP Device Architecture - Part ISO/IEC JTC 1 ISO/IEC Joint
ISO/IEC 29341-
26-13: Telephony device control protocol - Level 2 - Phone Technical Committee for
26-13
management service Information Technology
ETSI
Electromagnetic compatibility and Radio spectrum Matters
ETSI TR 102546 (ERM) - Technical characteristics for Professional Wireless
ETSI/WG ERM RM
V 1.1.1 Microphone Systems (PWMS) - System Reference
Document

3.3.3. WP 3 Anticipatory Models for Ergonomically Cooperative Human-Robot

Interaction
Human cumulative effort Composite lifting index (CLI) Reference mass

Personalized human model Variable lifting index (VLI) Upper limb/Back/Shoulder
Fatigue reduction NIOSH lifting index Work organization
Short-term/long-term fatigue Repetitive movements Biomechanical risk reduction
Handling low loads at high
Ergonomics database Ergonomic approach
frequency
Work-related musculoskeletal
Pushing and pulling Quick assessment
disorders
Work-related musculoskeletal
Overhead work Lifting equipment
disorders prevention
Manual handling Awkward postures Anthropometry
Lifting and carrying Static postures Biomechanics
Team lifting NIOSH lifting equation Musculoskeletal workload
Multi task manual lifting Human physical performance Human physical strength
Spinal loading Cumulative mass Cyclical industrial work
Compressive force/s Recommended mass limit Force limits
Shear force/s Step model Muscle fatigue
Standard no. Title TC Comment
ISO
WP3 anticipatory model would
Ergonomics - Evaluation of static ISO/TC 159
ISO 11226 inlcudes also the static load
working postures Ergonomics
condition.
Ergonomics - Manual handling - Part 1: ISO/TC 159 Biomechanical risk assessment:
ISO 11228-1
Lifting and carrying Ergonomics lifting activities
Ergonomics - Manual handling - Part 2: ISO/TC 159 Biomechanical risk assessment:
ISO 11228-2
Pushing and pulling Ergonomics pushing and pulling activities
Biomechanical risk assessment:
Ergonomics - Manual handling - Part 3: ISO/TC 159
ISO 11228-3 handling low load at high
Handling of low loads at high frequency Ergonomics
frequency
Ergonomics - Application document for This Technical Report addresses
ISO/TC 159
ISO/TR 12295 International Standards on manual some aspects not not
Ergonomics
handling (ISO 11228-1, ISO 11228-2 and

ISO 11228-3) and evaluation of static considered within the ISO 11228
working postures (ISO 11226) series.
Ergonomics—Manual Handling of People ISO/TC 159
ISO/TR 12296
in the Healthcare Sector Ergonomics
Anthropometric requirements
Safety of machinery - Anthropometric
ISO 14738 + ISO/TC 159 are important in order to have
requirements for the design of
TC 2 Ergonomics an optimized flexible
workstations at machinery
workstation.
Ergonomics - General approach, ISO/TC 159 General ergonomics basis
ISO 26800
principles and concepts Ergonomics
Safety of machinery - General principles ISO/TC 199
ISO 12100 for design - Risk assessment and risk Safety of
reduction machinery
CEN
Safety of machinery - Human physical
CEN/TC 122
EN 1005-5 performance - Part 5: Risk assessment
Ergonomics
for repetitive handling at high frequency

3.3.4. WP 4 Fellow-Feeling Wearables: Smart and Wearable Monitoring and

Feedback Interfaces
Wearable feedback devices Human guidance

Human physical loading awareness Wireless solution
Haptic feedback device
Standard Comment
Title TC
no.
ISO
Ergonomic principles related to mental workload ISO/TC 159
ISO 10075-2
- Part 2: Design principles Ergonomics
Ergonomics - General approach, principles and ISO/TC 159
ISO 26800
concepts Ergonomics
Ergonomics principles in the design of work ISO/TC 159
ISO 6385
systems Ergonomics
ISO 9241- Ergonomics of human-system interaction - Part ISO/TC 159
112 112: Principles for the presentation of information Ergonomics
Ergonomics of human-system interaction - Part
ISO 9241- ISO/TC 159
304: User performance test methods for electronic
304 Ergonomics
visual displays
410 + AMD 1 410: Design criteria for physical input devices Ergonomics
Ergonomics - Evaluation of static working ISO/TC 159
ISO 11226
postures Ergonomics
Ergonomics - Manual handling - Part 1: Lifting ISO/TC 159
ISO 11228-1
and carrying Ergonomics
Probably this standard and
all on this field (those on
Ergonomics - Manual handling - Part 2: Pushing ISO/TC 159 ergonomics in general) are
ISO 11228-2
and pulling Ergonomics more of interest for the
previous WPs, from which
the WP4 takes infos
Ergonomics - Manual handling - Part 3: Handling ISO/TC 159
ISO 11228-3
of low loads at high frequency Ergonomics
129 129: Guidance on software individualization Ergonomics
This may be more of
interest about the results
143 143: Forms Ergonomics
of the testing for our

devices, since the

exploratory questionnaires
will be performed by
another WP.
CEN
CEN/TC 231
Hand-arm vibration - Guidelines for vibration
CEN/TR Mechanical
hazards reduction - Part 2: Management measures
1030-2 vibration and
at the workplace
shock
ISO/IEC
ISO/IEC TR Information technology - Guidance for specifying ISO/IEC JTC
29156 performance requirements to meet security and 1/SC 37
usability needs in applications using biometrics Biometrics
CEN
Safety of machinery - Human physical
CEN/TC 122
EN 1005-5 performance - Part 5: Risk assessment for
Ergonomics
repetitive handling at high frequency
Safety of machinery - Guidance for the
CEN/TC 122
EN 13861 application of ergonomics standards in the
Ergonomics
design of machinery
Personal protective equipment - Ergonomic CEN/TC 122
EN 13921
principles Ergonomics
Safety of machinery - Ergonomics requirements
EN 894- CEN/TC 122
for the design of displays and control actuators -
2+A1 Ergonomics
Part 2: Displays
CEN/TC 389
CEN/TS Innovation management - Part 5: Collaboration
Innovation
16555-5 management
Management
Urban search and rescue (USaR) robotic CEN
CWA 17357 platform technical and procedural Workshop
interoperability - Guide Consortium

3.3.5. WP 5 Multi-Modal Perception and Interpretation

Motion capture system Human activity modelling Safety of vision

Human motion capture Human posture dataset Robot dataset
Human tracker/ing Human gesture dataset Robot sensors
Human Image dataset Human activity dataset Sensor dataset
Human Depth dataset Human-robot interaction Vision sensors
Human activity recognition Human-robot collaboration Force sensors
Human Intention recognition Human-robot interaction dataset RGBD cameras
Human body modelling Collaborative robot 3D cameras
Standard no. Title TC Comment
ISO
Industrial automation systems and integration - ISO/TC 184 identification /
ISO/TS
Product data representation and exchange - Part Automation systems description of
10303-1438
1438: Application module: Work structure and integration human tasks
ISO/IEC
definition of
Information technology - User interface - Gesture- gestures -
ISO/IEC ISO/IEC JTC 1/SC 35
based interfaces across devices and methods - Part interoperability
30113-1 User interfaces
1: Framework between
devices ?
Information technology - Gesture-based interfaces
ISO/IEC ISO/IEC JTC 1/SC 35 classification of
across devices and methods - Part 11: Single-point
30113-11 User interfaces gestures
gestures for common system actions
A range of standards were rated with unsure regarding the relevance for WP 5. These standards, listed in Annex
III, will be assessed in more detail with progressing project duration as part of the standardization strategy that
will be elaborated.

3.3.6. WP 6 Shared Intelligence and Social Interaction

Human robot collaboration Ergonomics (postures, excessive loadings and fatigue levels)
task decomposition Software architecture
contingency handling Shared control
Robot safety (collision avoidance, impact) productivity
Social interaction

ISO
Ergonomic design of control centres — Part 4: Layout and
dimensions of workstations
Ergonomic principles related to mental workload - Part 2: Design
principles
Ergonomic design of control centres - Part 4: Layout and
dimensions of workstations
ISO 11226 Ergonomics - Evaluation of static working postures ISO/TC 159 Ergonomics
ISO 11228-2 Ergonomics - Manual handling - Part 2: Pushing and pulling ISO/TC 159 Ergonomics
Ergonomics - Manual handling - Part 3: Handling of low loads at
high frequency
ISO 26800 Ergonomics - General approach, principles and concepts ISO/TC 159 Ergonomics
Ergonomics - Application document for International Standards
ISO/TR 12295 on manual handling (ISO 11228-1, ISO 11228-2 and ISO 11228-3) ISO/TC 159 Ergonomics
and evaluation of static working postures (ISO 11226)
Ergonomic requirements for office work with visual display
ISO 9241-5 terminals (VDTs) - Part 5: Workstation layout and postural ISO/TC 159 Ergonomics
requirements
Ergonomics of human-system interaction - Part 394: Ergonomic
requirements for reducing undesirable biomedical effects of
visually induced motion sickness during watching electronic
images
ISO/TR 9241- Ergonomics of human-system interaction - Part 331: Optical
ISO/TC 159 Ergonomics
331 characteristics of autostereoscopic displays
Ergonomics of human-system interaction - Part 333: Stereoscopic
displays using glasses

Ergonomics of human-system interaction - Part 392: Ergonomic

ISO 9241-392 recommendations for the reduction of visual fatigue from ISO/TC 159 Ergonomics
stereoscopic images
IEC
IEC/SC 65E Devices and
IEC 62541-6 OPC unified architecture - Part 6: Mappings integration in
enterprise systems
IEC 62541-7 OPC unified architecture - Part 7: Profiles integration in
enterprise systems
IEC 62541-8 OPC unified architecture - Part 8: Data Access integration in
enterprise systems
IEC 62541-12 OPC unified architecture - Part 12: Discovery and global services integration in
enterprise systems
IEC 62541-13 OPC Unified Architecture - Part 13: Aggregates integration in
enterprise systems
IEC IEC 62541-200: OPC Unified Architecture Specification - Part 200:
integration in
65E/322/CD OPC .NET Application Programming Interface (API)
enterprise systems

3.3.7. WP 7 Interaction-Assistive Control for Fellow-Assistant Robots

Autonomous impedance tuning Intuitive programming for non-experts

Multi-index ergonomics optimization Modular software control
Ergonomic Human robot interaction

ISO
ISO/TC 184 Automation
ISO 8373 Robots and robotic devices - Vocabulary
systems and integration
Manipulating industrial robots - Performance criteria and ISO/TC 184 Automation
ISO 9283
related test methods systems and integration
Robots and robotic devices - Coordinate systems and ISO/TC 184 Automation
ISO 9787
motion nomenclatures systems and integration
Manipulating industrial robots - Presentation of ISO/TC 184 Automation
ISO 9946
characteristics systems and integration
ISO/TC 299 Robots and
ISO 9241-220 Processes for enabling, executing and assessing human-
robotic devices
centred design within organizations
Robotics - Safety requirements for robot systems in an ISO/TC 299 Robots and
ISO/DIS 10218-1
industrial environment - Part 1: Robots robotic devices
ISO/TS 15066 Robots and robotic devices - Collaborative robots
robotic devices
Robotics - Performance criteria and related test methods ISO/TC 299 Robots and
ISO 18646-1
for service robots - Part 1: Locomotion for wheeled robots robotic devices
ISO/DIS 18646-3
for service robots - Part 3: Manipulation robotic devices
ISO 19649 Mobile robots - Vocabulary
robotic devices
Robotics - Modularity for service robots - Part 1: General ISO/TC 299 Robots and
ISO/DIS 22166-1
requirements robotic devices
ISO/IEC
ISO/IEC JTC 1/SC 22
ISO/IEC DIS Linux Standard Base (LSB) - Part 4-2: Core specification for Programming languages,
23360-4-2 AMD64 (X86-64) architecture their environments and
system software interfaces

ISO/IEC JTC 1/SC 7

ISO/IEC/IEEE Software, systems and enterprise - Architecture evaluation
Software and systems
42030 framework
engineering
ECMA
ECMA International -
European association for
ECMA-408 Dart Programming Language Specification standardizing information
and communication
systems

3.3.8. WP 8 Fellow-Assistant Robot Bodies

High payload collaborative robots Collaborative end-effectors

Modular exoskeletons Adaptive end-effectors
Modular collaborative robot joints Exoskeleton actuators
Mobile manipulators Soft body exoskeleton

ISO
Robotics - Safety requirements for robot systems in an ISO/TC 299 Robots and
ISO/DIS 10218-1 robotic devices
industrial environment - Part 1: Robots
ISO/TS 15066 Robots and robotic devices - Collaborative robots
robotic devices
ISO 18646-1
for service robots - Part 1: Locomotion for wheeled robots robotic devices
ISO 18646-2
for service robots - Part 2: Navigation robotic devices
ISO/DIS 18646-3
for service robots - Part 3: Manipulation robotic devices
ISO/DIS 18646-4
for service robots - Part 4: Lower-back support robots robotic devices
Robotics - Safety design for industrial robot systems - Part ISO/TC 299 Robots and
ISO/TR 20218-1
1: End-effectors robotic devices
Robotics - Safety design for industrial robot systems - Part ISO/TC 299 Robots and
ISO/TR 20218-2
2: Manual load/unload stations robotic devices
Robotics - Application of ISO 13482 - Part 1: Safety-related ISO/TC 299 Robots and
ISO/TR 23482-1
test methods robotic devices
Manipulating industrial robots - Informative guide on test ISO/TC 184 Automation
ISO/TR 13309 equipment and metrology methods of operation for robot systems and integration
performance evaluation in accordance with ISO 9283
Manipulating industrial robots - Automatic end effector ISO/TC 184 Automation
ISO 11593 exchange systems - Vocabulary and presentation of systems and integration
characteristics
Manipulating industrial robots - Object handling with ISO/TC 184 Automation
ISO 14539 grasp-type grippers - Vocabulary and presentation of systems and integration
characteristics
ISO/TC 184 Automation
ISO 8373 Robots and robotic devices - Vocabulary
systems and integration

Manipulating industrial robots - Performance criteria and ISO/TC 184 Automation

ISO 9283
related test methods systems and integration
Manipulating industrial robots - Mechanical interfaces - ISO/TC 184 Automation
ISO 9409-1
Part 1: Plates systems and integration
Manipulating industrial robots - Mechanical interfaces - ISO/TC 184 Automation
ISO 9409-2
Part 2: Shafts systems and integration
Robots and robotic devices - Coordinate systems and ISO/TC 184 Automation
ISO 9787
motion nomenclatures systems and integration
ISO/IEC
Information technology - UPnP Device Architecture - Part
ISO/IEC JTC 1 ISO/IEC Joint
ISO/IEC 29341-30- 30-12: IoT management and control device control
Technical Commitee for
12 protocol - IoT management and control transport generic
Information Technology
service

3.3.9. WP 9 Integration, Validation and Assessment

Metabolic cost thermophysiological response

Energy expenditure Thermoregulatory system
oxygen consumption Core temperature (body core temperature)
Heart rate Skin temperature
thermal comfort Physiological measures

ISO
Ergonomics of the thermal environment - Assessment of heat
stress using the WBGT (wet bulb globe temperature) index
Ergonomics of the thermal environment - Analytical
determination and interpretation of thermal comfort using
calculation of the PMV and PPD indices and local thermal
comfort criteria
Ergonomics of the thermal environment - Analytical
ISO 7933 determination and interpretation of heat stress using calculation ISO/TC 159 Ergonomics
of the predicted heat strain
Ergonomics of the thermal environment - Determination of
metabolic rate
Ergonomic requirements for office work with visual display
terminals (VDTs) - Part 6: Guidance on the work environment
Ergonomics - Evaluation of thermal strain by physiological
measurements
Ergonomics of the thermal environment - Estimation of thermal
insulation and water vapour resistance of a clothing ensemble
Ergonomics of the physical environment - Subjective judgement
scales for assessing physical environments
ISO 11226 Ergonomics - Evaluation of static working postures ISO/TC 159 Ergonomics
ISO 11228-1 Ergonomics - Manual handling - Part 1: Lifting and carrying ISO/TC 159 Ergonomics
ISO 11228-2 Ergonomics - Manual handling - Part 2: Pushing and pulling ISO/TC 159 Ergonomics
Ergonomics - Manual handling - Part 3: Handling of low loads at
high frequency
Ergonomics of the thermal environment - Principles and
application of relevant international standards

Ergonomics - Application document for International Standards

ISO/TR 12295 on manual handling (ISO 11228-1, ISO 11228-2 and ISO 11228-3) ISO/TC 159 Ergonomics
and evaluation of static working postures (ISO 11226)
Ergonomics of the thermal environment - Vocabulary and
symbols
Ergonomics—Manual Handling of People in the Healthcare
ISO/TR 12296 ISO/TC 159 Ergonomics
Sector
Ergonomics of the thermal environment - Risk assessment
ISO 15265 strategy for the prevention of stress or discomfort in thermal ISO/TC 159 Ergonomics
working conditions
Ergonomics of the thermal environment - Cold workplaces - Risk
assessment and management
Mechanical vibration and shock - Cold provocation tests for the
ISO/TC 108 Mechanical
ISO 14835-2 assessment of peripheral vascular function - Part 2:
vibration and shock
Measurement and evaluation of finger systolic blood pressure

3.4. Summary of the research and analysis of standards

Each WP has a specific focus and contribution to the development of new collaborative human-robot systems
based on the requirements of the three different use case scenarios. This is also reflected in the range of standards
that were assessed as important for each WP. Nevertheless, several standards and standard series are of relevance
for several or the majority of the WPs. These are depicted in detail in the following section:
ISO/TC 159 Ergonomics is one of the most relevant TCs for the SOPHIA consortium. Hereby, the sub committees
“SC 3 Anthropometry and biomechanics” and “SC 4 Ergonomics of human-system interaction” are of special
interest as reflected in the outcome of the analysis of standards.
For full detail, all standards of the standards series ISO 9241 Ergonomics of human-system interaction developed
by ISO/TC 159/SC 4 Ergonomics of human-system interaction are listed in Table 26. The standards from this series
were originally titled Ergonomic requirements for office work with visual display terminals (VDTs). Some of these
standards still have this title.
Table 26 ISO 9241 Ergonomics of human-system interaction standard series from ISO/TC 159/SC 4 Ergonomics of
human-system interaction
The standards that were rated with important are highlighted in blue.
Impor-
Standard no. Standard title
tant for …
ISO 9241 Ergonomics of human-system interaction standard series from ISO/TC 159/SC 4 Ergonomics of human-
system interaction
ISO 9241-1 + Ergonomics requirements for office work with visual display terminals (VDTs) -
AMD 1 Part 1: General introduction
Ergonomics requirements for office work with visual display terminals (VDTs) -
ISO 9241-2
Part 2: guidance on task requirements
ISO 9241-5 WP6
Part 5: Workstation layout and postural requirements
ISO 9241-6 WP9
Part 6: Guidance on the work environment
ISO 9241-11 WP1
Part 11: Usability: Definitions and concepts
ISO 9241-13 WP4
Part 13: User guidance
ISO 9241-14 WP1
Part 14: Menu dialogues
Ergonomics of human-system interaction - Part 20: Accessibility guidelines for
ISO 9241-20
information/communication technology (ICT) equipment and services
ISO/CD 9241- Ergonomics of human-system interaction - Part 20: An ergonomic approach to
20 accessibility within the ISO 9241 series
100 series: Software ergonomics
ISO/TR 9241- Ergonomics of human-system interaction - Part 100: Introduction to standards
WP1
100 related to software ergonomics

WP1,
ISO 9241-110 Ergonomics of human-system interaction - Part 110: Interaction principles
WP4
Ergonomics of human-system interaction - Part 112: Principles for the
ISO 9241-112 WP4
presentation of information
Ergonomics of human-system interaction - Part 125: Guidance on visual
ISO 9241-125
presentation of information
ISO/TS 9241- Ergonomics of human-system interaction - Part 126: Guidance on the
126 presentation of auditory information
Ergonomics of human-system interaction - Part 129: Guidance on software
ISO 9241-129 WP4
individualization
WP1,
ISO 9241-143 Ergonomics of human-system interaction - Part 143: Forms
WP4
Ergonomics of human-system interaction - Part 154: Interactive voice response
ISO 9241-154
(IVR) applications
Ergonomics of human-system interaction - Part 161: Guidance on visual user-
ISO 9241-161 WP1
interface elements
Ergonomics of human-system interaction - Part 171: Guidance on software
ISO 9241-171
accessibility
200 series: Human system interaction processes
Ergonomics of human-system interaction - Part 210: Human-centred design for
ISO 9241-210
interactive systems
Ergonomics of human-system interaction - Part 220: Processes for enabling, WP1,
ISO 9241-220
executing and assessing human-centred design within organizations WP7
ISO/AWI 9241- Ergonomics of human-system interaction - Part 221: HCD Process Assessment
221 Model (PAM) and Process Reference Model (PRM)
300 series: Displays and display related hardware
Ergonomics of human-system interaction - Part 300: Introduction to electronic
ISO 9241-300
visual display requirements
Ergonomics of human-system interaction - Part 302: Terminology for electronic
ISO 9241-302
visual displays
Ergonomics of human-system interaction - Part 303: Requirements for electronic
ISO 9241-303
visual displays
Ergonomics of human-system interaction - Part 304: User performance test WP1,
ISO 9241-304
methods for electronic visual displays WP4
Ergonomics of human-system interaction - Part 305: Optical laboratory test
ISO 9241-305
methods for electronic visual displays
Ergonomics of human-system interaction -Part 306: Field assessment methods for
ISO 9241-306
electronic visual displays
Ergonomics of human-system interaction - Part 307: Analysis and compliance test
ISO 9241-307
methods for electronic visual displays

ISO/TR 9241- Ergonomics of human-system interaction - Part 308: Surface-conduction electron-

308 emitter displays (SED)
ISO/TR 9241- Ergonomics of human-system interaction - Part 309: Organic light-emitting diode
309 (OLED) displays
ISO/TR 9241- Ergonomics of human-system interaction - Part 310: Visibility, aesthetics and
WP4
310 ergonomics of pixel defects
ISO/WD TR Ergonomics of human-system interaction - Part 311: Guidance on application of
9241-311 ISO 9241-307: LCD screens for workstations
ISO/TR 9241- Ergonomics of human-system interaction - Part 312: Readability of
312 electrophoretic displays
ISO/TR 9241- Ergonomics of human-system interaction - Part 331: Optical characteristics of
WP6
331 autostereoscopic displays
Ergonomics of human-system interaction - Part 333: Stereoscopic displays using
ISO 9241-333 WP6
glasses
ISO/CD TR Ergonomics of human-system interaction - Part 380: Survey result of HMD (Head-
9241-380 Mounted Displays) characteristics related to human-system interaction
ISO/WD 9241- Ergonomics of human-system interaction - Part 381: Requirements for optical
381 characteristics of head-mounted displays related to human-system interaction
Ergonomics of human-system interaction - Part 382: General requirements for
ISO/WD 9241-
reducing undesirable biomedical effects during visual interactive tasks using head-
382
mounted displays
Ergonomics of human-system interaction - Part 391: Requirements, analysis and
ISO 9241-391
compliance test methods for the reduction of photosensitive seizures
Ergonomics of human-system interaction - Part 392: Ergonomic recommendations
ISO 9241-392 WP6
for the reduction of visual fatigue from stereoscopic images
ISO/TR 9241- Ergonomics of human-system interaction - Part 393: Structured literature review
393 of visually induced motion sickness during watching electronic images
Ergonomics of human-system interaction - Part 394: Ergonomic requirements for
ISO 9241-394 reducing undesirable biomedical effects of visually induced motion sickness WP6
during watching electronic images
400 series: Physical input devices - ergonomics principles
Ergonomics of human-system interaction - Part 400: Principles and requirements
ISO 9241-400 WP1
for physical input devices
ISO 9241-410 Ergonomics of human-system interaction – Part 410: Design criteria for physical WP1,
and AMD 1 input devices WP4
ISO/TS 9241- Ergonomics of human-system interaction - Part 411: Evaluation methods for the
411 design of physical input devices
Ergonomics of human-system interaction - Part 420: Selection of physical input WP1,
ISO 9241-420
devices WP4
ISO/DTS 9241- Ergonomics of human-system interaction - Part 430: Recommendations for the
430 design of non-touch gestural input for the reduction of biomechanical stress

500 series: Workplace ergonomics

Ergonomics of human-system interaction - Part 500: Ergonomic principles for the
ISO 9241-500
design and evaluation of environments of interactive systems
ISO/TR 9241- Ergonomics of human-system interaction - Part 514: Guidance for the application
514 of anthropometric data in the ISO 9241-500 series
600 series: Environment ergonomics

ISO/CD TR
Part 610: Impact of light and lighting on humans
9241-610
700 series: Application domains - Control rooms
ISO/TR 9241- Ergonomics of human-system interaction - Part 810: Robotic, intelligent and
810 autonomous systems
900 series: Tactile and haptic interactions
Ergonomics of human-system interaction - Part 910: Framework for tactile and
ISO 9241-910
haptic interaction
Ergonomics of human-system interaction - Part 920: Guidance on tactile and
ISO 9241-920
haptic interactions
Ergonomics of human-system interaction - Part 940: Evaluation of tactile and
ISO 9241-940
haptic interactions
Ergonomics of human-system interaction - Part 960: Framework and guidance for
ISO 9241-960
gesture interactions
ISO/FDIS 9241- Ergonomics of human-system interaction - Part 971: Guidance on physical
971 (tactile/haptic) accessibility
Other standards that were also rated with important from several WPs are listed in the following table 27.
Table 27 Standards that were rated with important by several WPs
Impor-
Standard no. Standard title tant for
…
ISO/TC 159 Ergonomics
WP3,
ISO 11228-1 Ergonomics - Manual handling - Part 1: Lifting and carrying WP4,
WP9
WP3,
WP4
ISO 11228-2 Ergonomics - Manual handling - Part 2: Pushing and pulling
WP6,
WP9
WP3,
ISO 11228-3 Ergonomics - Manual handling - Part 3: Handling of low loads at high frequency
WP4

WP6,
WP9
Safety of machinery - Human physical performance - Part 5: Risk assessment for WP3,
EN 1005-5
repetitive handling at high frequency WP9
WP3,
ISO 26800 Ergonomics - General approach, principles and concepts WP4,
WP6
Ergonomics - Application document for International Standards on manual WP3,
ISO/TR 12295 handling (ISO 11228-1, ISO 11228-2 and ISO 11228-3) and evaluation of static WP6,
working postures (ISO 11226) WP9
WP3,
WP4,
ISO 11226 Ergonomics - Evaluation of static working postures
WP6,
WP9
WP3,
ISO/TR 12296 Ergonomics—Manual Handling of People in the Healthcare Sector
WP9
ISO/TC 299 Robotics
ISO/DIS Robotics - Safety requirements for robot systems in an industrial environment - WP7,
10218-1 Part 1: Robots WP8
ISO/DIS Robotics - Performance criteria and related test methods for service robots - WP7,
18646-3 Part 3: Manipulation WP8
Another standard, which was originally not considered in the standards research and was suggested by a project
partner as important for the project is the national German standard DIN 33402-2: Ergonomics - Human body
dimensions - Part 2: Values. 29 This standard will be presented and further discussed in the upcoming
standardization activities.
The outcome of the research and analysis of standards is the basis of the subsequent standardization strategy.
The next steps pursuing this strategy will be as follows: It will be determined which of the as important rated
standards are crucial in their application for the envisaged human-robot collaboration use cases to guarantee
design compliance with standards. These standards will be provided for all partners requiring this information.
Furthermore, the project’s results might show that the as important rated standards miss essential information,
aspects, etc. that can be provided by the SOPHIA consortium. In this case it must be decided whether it makes
more sense to initiate the development of a specification, such as a CWA, or get in contact with the respective
technical committees to give input based on the project results and suggest modifications. These further actions
will be performed fulfilling the subtasks “Recommendations for modification of existing standards in the field of
biomechanical risk and HRC” and “Standardization activities regarding SOPHIA HRC technologies” as part of T10.1
Standardization activities.
29
DIN Standards Committee Ergonomics, DIN 33402-2 Ergonomics - Human body dimensions - Part 2: Values,
https://www.din.de/en/getting-involved/standards-committees/naerg/publications/wdc-
beuth:din21:324499732?destinationLanguage=&sourceLanguage=, accessed 26 November 2020.

Annex I. Keywords for the standards research provided by project partners
Keyword list
WP Relevant keywords
WP 1 End-User and Core Technology Requirements, Design Specifications and Acceptability
human-robot interaction usability

human-robot collaboration acceptability
interaction design acceptance measurement
interaction quality implementation process
WP 2 Human Dynamic Modelling and Online Calibration Tools
Human modelling Kinodynamic state monitoring

External forces (loads) estimation Ergonomic factors
Human body parameters identification Model calibration
WP 3 Anticipatory Models for Ergonomically Cooperative Human-Robot Interaction
Human cumulative effort Awkward postures

Personalized human model Static postures
Fatigue reduction NIOSH lifting equation
Short-term/long-term fatigue Human physical performance
Ergonomics database Cumulative mass
Work-related musculoskeletal disorders Recommended mass limit
Work-related musculoskeletal disorders
Step model
prevention
Manual handling Reference mass
Lifting and carrying Upper limb/Back/Shoulder
Team lifting Work organization
Multi task manual lifting Biomechanical risk reduction
Spinal loading Ergonomic approach
Compressive force/s Quick assessment
Shear force/s Lifting equipment
Composite lifting index (CLI) Anthropometry
Variable lifting index (VLI) Biomechanics
NIOSH lifting index Musculoskeletal workload
SOPHIA Deliverable (Page i)

Repetitive movements Human physical strength
Handling low loads at high frequency Cyclical industrial work
Pushing and pulling Force limits
Overhead work Muscle fatigue
WP 4 Fellow-Feeling Wearables: Smart and Wearable Monitoring and Feedback Interfaces
Wearable feedback devices Human guidance

Human physical loading awareness Wireless solution
Haptic feedback device
WP 5 Multi-Modal Perception and Interpretation
Motion capture system Human-robot interaction

Human motion capture Human-robot collaboration
Human tracker/ing Human-robot interaction dataset
Human Image dataset Collaborative robot
Human Depth dataset Safety of vision
Human activity recognition Robot dataset
Human Intention recognition Robot sensors
Human body modeling Sensor dataset
Human activity modeling Vision sensors
Human posture dataset Force sensors
Human gesture dataset RGBD cameras
Human activity dataset 3D cameras
WP 6 Shared Intelligence and Social Interaction
Human robot collaboration Software architecture

task decomposition Shared control
contingency handling productivity
Robot safety (collision avoidance, impact) Social interaction
Ergonomics (postures, excessive loadings and
fatigue levels)
SOPHIA Deliverable (Page ii)

WP 7 Interaction-Assistive Control for Fellow-Assistant Robots
Autonomous impedance tuning Intuitive programming for non-experts

Multi-index ergonomics optimization Modular software control
Ergonomic Human robot interaction
WP 8 Fellow-Assistant Robot Bodies
High payload collaborative robots Collaborative end-effectors

Modular exoskeletons Adaptive end-effectors
Modular collaborative robot joints Exoskeleton actuators
Mobile manipulators Soft body exoskeleton
WP 9 Integration, Validation and Assessment
Metabolic cost thermophysiological response

Energy expenditure Thermoregulatory system
oxygen consumption Core temperature (body core temperature)
Heart rate Skin temperature
thermal comfort Physiological measures
SOPHIA Deliverable (Page iii)

Annex II. Chosen ICS classes for the standards research

01 Generalities. Terminology. Standardization. Documentation
01.040.03 01.040.07 01.040.11 01.040.13

Services. Company Natural and applied Health care technology Environment. Health
organization, sciences (Vocabularies) (Vocabularies) protection. Safety
management and quality. (Vocabularies)
Administration.
Transport. Sociology.
(Vocabularies)
01.040.17 01.040.19 01.040.21 01.040.25
Metrology and Testing (Vocabularies) Mechanical systems and Manufacturing
measurement. Physical components for general engineering
phenomena use (Vocabularies) (Vocabularies)
(Vocabularies)
01.040.29 01.040.31 01.040.33 01.040.35
Electrical engineering Electronics Telecommunications. Information technology
(Vocabularies) (Vocabularies) Audio and video (Vocabularies)
engineering
(Vocabularies)
01.040.93 01.060 01.080.01 01.080.10
Civil engineering Quantities and units Graphical symbols in Public information
(Vocabularies general symbols. Signs. Plates.
Labels
Including safety signs,
safety colours, etc.
01.080.20 01.080.30 01.080.40 01.080.50
Graphical symbols for Graphical symbols for Graphical symbols for Graphical symbols for
use on specific use on mechanical use on electrical and use on information
equipment engineering and electronics engineering technology and
construction drawings, drawings, diagrams, telecommunications
diagrams, plans, maps charts and in relevant technical drawings and in
and in relevant technical technical product relevant technical
product documentation documentation product documentation
03 Services. Company organization, management and quality. Administration. Transport. Sociology
03.040 03.080.01 03.080.20 03.080.99

Labour. Employment Services in general Services for companies Other services
Including publicity,
advertising, professional
services, recruitment
services, management
consultancy, outsourcing
SOPHIA Deliverable (Page iv)

03.100.50 03.120
Production. Production Quality
management
13 Environment. Health protection. Safety
13.100 13.110 13.140 13.160

Occupational safety. Safety of machinery Noise with respect to Vibration and shock with
Industrial hygiene human beings respect to human beings
Including audiometry
13.180 13.200 13.260
Ergonomics Accident and disaster Protection against
control electric shock. Live
Including emergency working
evacuations and Including tools for
emergency control working with voltages
systems
17 19 21 29
Metrology and Testing Mechanical systems and Electrical engineering
measurement. Physical components for general
phenomena use
31 33 35
Electronics Telecommunications. Information technology
Audio and video
engineering
39 Precision mechanics. Jewellery
39.020
Precision mechanics
Including microsystems
53 Materials handling equipment
53.020 53.040 53.060 53.080

Lifting equipment Continuous handling Industrial trucks Storage equipment
equipment
53.120
Equipment for manual
handling
Including shovels,
spades, crowbars, picks,
etc.
SOPHIA Deliverable (Page v)

Annex III. Standards rated with unsure by the WPs

Standard document TC Rated by … Comment
EN 17161 - Design for All - Accessibility following a Design
for All approach in products, goods and services - CEN/CLC/JTC 12 Design for All WP1
Extending the range of users
prEN ISO 25065 - Systems and software engineering -
Software product Quality Requirements and Evaluation
CEN/TC 122 Ergonomics WP1
(SQuaRE) - Common Industry Format (CIF) for Usability:
User requirements specification (ISO 25065:2019)
ETR 160 - Human Factors (HF) - Human factors aspects of
ETSI/TC HF Human Factors WP1
multimedia telecommunications
IEC/PAS 62883*CEI/PAS 62883 - The universAAL
IEC/TC 100 Sound, vision and
Framework for User Interaction in Multimedia Ambient WP1
multimedia systems and equipment
Assisted Living (AAL) Spaces
ISO/IEC 30113-1 - Information technology - User interface
- Gesture-based interfaces across devices and methods - ISO/IEC JTC 1/SC 35 User interfaces WP1
Part 1: Framework
ISO/IEC 30113-11 - Information technology - Gesture-
based interfaces across devices and methods - Part 11: ISO/IEC JTC 1/SC 35 User interfaces WP1
Single-point gestures for common system actions
ISO/IEC DIS 30113-61 - Information technology - User
interfaces - Gesture-based interfaces across devices and
ISO/IEC JTC 1/SC 35 User interfaces WP1
methods - Part 61: Single-point gestures for screen
readers
ISO/IEC DIS 30150-1 - Information technology - Affective
ISO/IEC JTC 1/SC 35 User interfaces WP1
computing user interface (AUI) - Part 1: Model
SOPHIA Deliverable (Page vi)

ISO/IEC FDIS 30113-60 - Information technology -
Gesture-based interfaces across devices and methods - ISO/IEC JTC 1/SC 35 User interfaces WP1
Part 60: General guidance on gestures for screen readers
ISO/IEC TR 29156 - Information technology - Guidance for
specifying performance requirements to meet security ISO/IEC JTC 1/SC 37 Biometrics WP1
and usability needs in applications using biometrics
ISO/IEC 25022 - Systems and software engineering -
Systems and software quality requirements and ISO/IEC JTC 1/SC 7 WP1
evaluation (SQuaRE) - Measurement of quality in use
ISO/IEC 25062 - Software engineering - Software product
Quality Requirements and Evaluation (SQuaRE) - Common ISO/IEC JTC 1/SC 7 WP1
Industry Format (CIF) for usability test reports
Systems and software product Quality Requirements and
ISO/IEC JTC 1/SC 7 WP1
Evaluation (SQuaRE) - Common Industry Format (CIF) for
usability: Context of use description
Systems and software Quality Requirements and
ISO/IEC JTC 1/SC 7 WP1
Evaluation (SQuaRE) - Common Industry Format (CIF) for
Usability - Evaluation Report
ISO/IEC TR 25060 - Systems and software engineering -
Systems and software product Quality Requirements and
Evaluation (SQuaRE) - Common Industry Format (CIF) for ISO/IEC JTC 1/SC 7 WP1
usability: General framework for usability-related
information
ISO/TR 16982 - Ergonomics of human-system interaction -
ISO/TC 159 Ergonomics WP1
Usability methods supporting human-centred design
SOPHIA Deliverable (Page vii)

ITU-T F.901 - Usability evaluation of telecommunication ITU International Telecommunication
WP1
services Union
EN 894-4 - Safety of machinery - Ergonomics
requirements for the design of displays and control
actuators - Part 4: Location and arrangement of displays
and control actuators
EN ISO 9886 - Ergonomis - Evaluation of thermal strain by
physiological measurements (ISO 9886:2004)
EN ISO 9920 - Ergonomics of the thermal environment -
Estimation of thermal insulation and water vapour
resistance of a clothing ensemble (ISO 9920:2007,
Corrected version 2008-11-01)
EN ISO 16092-1 - Machine tools safety - Presses - Part 1:
CEN/TC 143 Machine tools - Safety WP2
General safety requirements (ISO 16092-1:2017)
EN 12896-5 - Public transport - Reference data model - CEN/TC 278 Road transport and traffic
WP2
Part 5: Fare management telematics
WP2
Part 7: Driver management telematics
WP2
Part 8: Management information & statistics telematics
EN 16157-1 - Intelligent transport systems - DATEX II data
CEN/TC 278 Road transport and traffic
exchange specifications for traffic management and WP2
telematics
information - Part 1: Context and framework
IEC/TR3 61295*CEI/TR3 61295 - Calibration tapes for IEC/TC 100 Sound, vision and
WP2
broadcast VTRs multimedia systems and equipment
SOPHIA Deliverable (Page viii)

The reference to managers seems to
ISO/TR 16982 - Ergonomics of human-system interaction -
ISO/TC 159 Ergonomics WP4 be very high level with respect to the
Usability methods supporting human-centred design
work carried on in this WP.
It refers to interfaces applied to
machineries (e.g. devices and
ISO 9355-2 - Ergonomic requirements for the design of installations, control panels, operating
displays and control actuators - Part 2: Displays and monitoring consoles) and it seems
not to refer to wearable devices, but
only grounded UI systems.
Sinche the transmission of usability
data can be of interest for the
development of the WP, especially
ISO/IEC 25062 - Software engineering - Software product within partners performing similar
Quality Requirements and Evaluation (SQuaRE) - Common ISO/IEC JTC 1/SC 7 WP4 tests, also in this case the consortium
Industry Format (CIF) for usability test reports within WP4 will work at a lower level
with respect to stakeholders to which
the standard seems to be the target
audience for this standard.
ISO/IEC 29155-3 - Systems and software engineering - The benchmarking process may be of
Information technology project performance ISO/IEC JTC 1/SC 7 WP4 interest for the WP4, but it may be
benchmarking framework - Part 3: Guidance for reporting mainly focused to internal comparison.
Within the WP some devices will be
ISO/IEC/IEEE 24748-1 - Systems and software engineering designed and integrated together.
- Life cycle management - Part 1: Guidelines for life cycle ISO/IEC JTC 1/SC 7 WP4 Probably the life cycle concept may be
management of interest, especially for the first
Phases of development.
ISO/TR 9241-310 - Ergonomics of human-system
Since we are not using visual cues but
interaction - Part 310: Visibility, aesthetics and ISO/TC 159 Ergonomics WP4
we will focus on haptic stimuli
ergonomics of pixel defects
SOPHIA Deliverable (Page ix)

probbaly this standard is not so
important for this WP.
Even if the use cases are not about
working in office environment
ISO 9241-6 - Ergonomic requirements for office work with
probably this may be of interest to
visual display terminals (VDTs) - Part 6: Guidance on the ISO/TC 159 Ergonomics WP4
understand the vibrations that we can
work environment
provide to the user through our
devices.
The devices that will be developed in
ISO/TS 9241-411 - Ergonomics of human-system
this WP probably will not fall into the
interaction - Part 411: Evaluation methods for the design ISO/TC 159 Ergonomics WP4
definition of devices referred in this
of physical input devices
standard
working in office environment
ISO 9241-2 - Ergonomic requirements for office work with
probably this may be of interest to
visual display terminals (VDTs); part 2: guidance on task ISO/TC 159 Ergonomics WP4
understand the vibrations that we can
requirements
provide to the user through our
devices.
ISO 25065 - Systems and software engineering - Software
The type of systems referred in this
product Quality Requirements and Evaluation (SQuaRE) -
ISO/TC 159 Ergonomics WP4 document may also include those
Common Industry Format (CIF) for Usability: User
developed within this WP
requirements specification
The standard seems more directed to
ISO 27501 - The human-centred organization - Guidance
ISO/TC 159 Ergonomics WP4 an analysis by the manager of the
for managers
working conditions
ISO 9241-1 - Ergonomic requirements for office work with Even if the use cases are not about
visual display terminals (VDTs) - Part 1: General ISO/TC 159 Ergonomics WP4 working in office environment
introduction probably this may be of interest to
SOPHIA Deliverable (Page x)

understand the different standards in
working locations.
ISO 9241-161 - Ergonomics of human-system interaction - This standard refers to visual user
Part 161: Guidance on visual user-interface elements interfaces, not considered in WP4
ISO 9241-304 - Ergonomics of human-system interaction -
This standard refers to visual user
Part 304: User performance test methods for electronic ISO/TC 159 Ergonomics WP4
interfaces, not considered in WP4
visual displays
this WP probably will not fall into the
Part 400: Principles and requirements for physical input ISO/TC 159 Ergonomics WP4
definition of devices referred in this
devices
standard
ISO 9241-420 - Ergonomics of human-system interaction - this WP probably will not fall into the
Part 420: Selection of physical input devices definition of devices referred in this
standard
The two standards of reference are
CLC IEC/TR 63069 - Industrial-process measurement,
CLC/TC 65X Industrial-process not included in the list, so probably the
control and automation - Framework for functional safety WP4
measurement, control and automation applications involved in this are not of
and security (IEC/TR 63069:2019)
our interest.
EN ISO 9241-6 - Ergonomic requirements for office work working in office environment
CEN European Committee for
with visual display terminals (VDTs) - Part 6: Guidance on WP4 probably this may be of interest to
Standardization
the work environment (ISO 9241-6:1999) understand the different standards in
working locations.
EN 1005-5 - Safety of machinery - Human physical This standard still refer to possible
performance - Part 5: Risk assessment for repetitive CEN/TC 122 Ergonomics WP4 industrial use cases, even if not listed
handling at high frequency in the original list of use-cases.
SOPHIA Deliverable (Page xi)

This standard seems to be mainly
EN ISO 27501 - The human-centred organization -
CEN/TC 122 Ergonomics WP4 directed to managers for assessment
Guidance for managers (ISO 27501:2019)
of the working conditions.
Not sue if this kind of intarface is used
EN ISO 9241-143 - Ergonomics of human-system
CEN/TC 122 Ergonomics WP4 for the devices that will be developed
interaction - Part 143: Forms (ISO 9241-143:2012)
in this WP.
EN 29241-2 - Ergonomic requirements for office work working in office environment
CEN European Committee for
with visual display terminals (VDTs); part 2: guidance on WP4 probably this may be of interest to
Standardization
task requirements (ISO 9241-2:1992) understand the different standards in
working locations.
CEN/TS 17262 - Personal identification - Robustness CEN/TC 224 Machine-readable cards,
biometrics security (is it related to face
against biometric presentation attacks - Application to related device interfaces and WP5
detection ?)
European Automated Border Control operations
CIE 143 - International recommendations for colour vision CIE/Division 4 Lighting and Signalling related to safety of RGB vision which is
WP5
requirements for transport for Transport an input of WP5 work.
EN 16710-2 - Ergonomics methods - Part 2: A description of humans tasks / activities
methodology for work analysis to support design ?
EN ISO 8996 - Ergonomics of the thermal environment - description of humans tasks / activities
Determination of metabolic rate (ISO 8996:2004) ?
EN ISO 9241-410 - Ergonomics of human-system taking into consideration capacity and
interaction - Part 410: Design criteria for physical input CEN/TC 122 Ergonomics WP5 limitation of users in physical input
devices (ISO 9241-410:2008) devices (gestures / voice)
ETSI ES 202211 V 1.1.1 - Speech Processing, Transmission
and Quality Aspects (STQ) - Distributed speech
voice processing, not sure it would be
recognition - Extended front-end feature extraction ETSI/STQ AURORA WP5
used in WP5
algorithm - Compression algorithms - Back-end speech
reconstruction algorithm
SOPHIA Deliverable (Page xii)

ETSI ES 202212 V 1.1.2 - Speech Processing, Transmission
and Quality Aspects (STQ) - Distributed speech
voice processing, not sure it would be
recognition - Extended advanced front-end feature ETSI/STQ AURORA WP5
used in WP5
extraction algorithm - Compression algorithms - Back-end
speech reconstruction algorithm
standardization of mobile robot
ISO 19649 - Mobile robots - Vocabulary ISO/TC 299 Robots and robotic devices WP5 actions, usefull in WP5 (collaboration
action with a mobile robot ?)
related to safety of physical input
ISO 9241-400 - Ergonomics of human-system interaction - devices (gesture / voice) BUT
Part 400: Principles and requirements for physical input ISO/TC 159 Ergonomics WP5 apparently from the hardware
devices perspective which is not the purpose
of WP5
taking into consideration capacity and
ISO/TC 159 Ergonomics WP5 limitation of users in physical input
Part 410: Design criteria for physical input devices
devices (gestures / voice)
ISO 9787 - Robots and robotic devices - Coordinate ISO/TC 184 Automation systems and robot movement standardization...
WP5
systems and motion nomenclatures integration important for WP5 ?
ISO/DIS 10218-1 - Robotics - Safety requirements for
mainly related to WP7 but may have
robot systems in an industrial environment - Part 1: ISO/TC 299 Robots and robotic devices WP5
inpact on WP5 ?
Robots
ISO/IEC 19774-1 - Information technology - Computer
graphics, image processing and environmental data ISO/IEC JTC 1/SC 24 Computer graphics
WP5 representation of Human in 3D
representation - Part 1: Humanoid animation (H-Anim) and image processing
architecture
ISO/IEC 30113-12 - Information technology - User ISO/CEI JTC 1/SC 35 Interfaces definition of multipoint gesture ... not
WP5
interfaces - Gesture-based interfaces across devices and utilisateur sure to be relevant for WP5
SOPHIA Deliverable (Page xiii)

methods - Part 12: Multi-point gestures for common
system actions
ISO/IEC 30113-5 - Information technology - User interface
ISO/CEI JTC 1/SC 35 Interfaces
- Gesture-based interfaces across devices and methods - WP5 helpfull for gestures description ?
utilisateur
Part 5: Gesture Interface Markup Language (GIML)
ISO/IEC 30122-1 - Information technology - User
ISO/CEI JTC 1/SC 35 Interfaces voice commands standardization. Not
interfaces - Voice commands - Part 1: Framework and WP5
utilisateur sure to be used in WP 5
general guidance
ISO/CEI JTC 1/SC 35 Interfaces voice processing, not sure it would be
interfaces - Voice commands - Part 2: Constructing and WP5
utilisateur used in WP5
testing
ISO/CEI JTC 1/SC 35 Interfaces voice commands standardization. Not
interfaces - Voice commands - Part 3: Translation and WP5
utilisateur sure to be used in WP 5
localization
ISO/CEI JTC 1/SC 35 Interfaces related to speech recognition that may
interfaces - Voice commands - Part 4: Management of WP5
utilisateur be an input of WP5
voice command registration
ISO/IEC TR 29156 - Information technology - Guidance for performance of biometrics systems.
specifying performance requirements to meet security ISO/IEC JTC 1/SC 37 Biometrics WP5 Applyable to human identification and
and usability needs in applications using biometrics tracking ?
ISO/TS 15066 - Robots and robotic devices - Collaborative mainly related to WP7 but may have
ISO/TC 299 Robots and robotic devices WP5
robots inpact on WP5 ?
EN 62541-3 - OPC unified architecture - Part 3: Address CLC/TC 65X Industrial-process
WP6
Space Model (IEC 62541-3:2015) measurement, control and automation
FprEN IEC 62541-14 - OPC Unified Architecture - Part 14: CLC/TC 65X Industrial-process
WP6
PubSub measurement, control and automation
SOPHIA Deliverable (Page xiv)

IEC 62541-14*CEI 62541-14 - OPC unified architecture - IEC/SC 65E Devices and integration in
WP6
Part 14: PubSub enterprise systems
IEC 62541-6*CEI 62541-6 - OPC unified architecture - Part IEC/SC 65E Devices and integration in
WP6
6: Mappings enterprise systems
ISO 14738 Technical Corrigendum 2 - Safety of machinery
- Anthropometric requirements for the design of ISO/TC 159 Ergonomics WP6
workstations at machinery; Technical Corrigendum 2
ISO/DIS 14738 - Safety of machinery - Anthropometric
requirements for the design of workstations for industries ISO/TC 159 Ergonomics WP6
and services
ISO/IEC 23360-2 - Linux Standard Base (LSB) core ISO/IEC JTC 1/SC 22 Programming
specification 3.1 - Part 2: Specification for IA32 languages, their environments and WP7
architecture system software interfaces
specification 3.1 - Part 3: Specification for IA64 languages, their environments and WP7
specification 3.1 - Part 4: Specification for AMD64 languages, their environments and WP7
specification 3.1 - Part 5: Specification for PPC32 languages, their environments and WP7
specification 3.1 - Part 6: Specification for PPC64 languages, their environments and WP7
specification 3.1 - Part 7: Specification for S390 languages, their environments and WP7
SOPHIA Deliverable (Page xv)
specification 3.1 - Part 8: Specification for S390X languages, their environments and WP7
ISO/IEC 8652 Technical Corrigendum 1 - Information ISO/IEC JTC 1/SC 22 Programming
technology - Programming languages - Ada; Technical languages, their environments and WP7
Corrigendum 1 system software interfaces
ISO/IEC JTC 1/SC 22 Programming
ISO/IEC DIS 23360-1-2 - Linux Standard Base (LSB) - Part
languages, their environments and WP7
1-2: Core specification generic part
2-2: Core specification for X86-32 architecture
2-3: Desktop specification for X86-32 architecture
3-2: Core specification for IA64 (ItaniumT) architecture
3-3: Desktop specification for IA64 (Itanium) architecture
ISO/IEC DIS 23360-4-3 - Linux Standard Base (LSB) - Part ISO/IEC JTC 1/SC 22 Programming
4-3: Desktop specification for AMD64 (X86-64) languages, their environments and WP7
5-2: Core specification for PowerPC 32 architecture
SOPHIA Deliverable (Page xvi)

5-3: Desktop specification for PowerPC 32 architecture
6-2: Core specification for PowerPC 64 architecture
6-3: Desktop specification for PowerPC 64 architecture
7-2: Core specification for S390 architecture
7-3: Desktop specification for S390 architecture
8-2: Core specification for S390X architecture
8-3: Desktop specification for S390X architecture
ISO/TR 23482-2 - Robotics - Application of ISO 13482 -
Part 2: Application guidelines
CEN/TS 16555-5 - Innovation management - Part 5:
CEN/TC 389 Innovation Management WP8
Collaboration management
ISO/DIS 11593 - Robots for industrial environments -
Automatic end effector exchange systems - Vocabulary ISO/TC 299 Robots and robotic devices WP8
and presentation of characteristics
SOPHIA Deliverable (Page xvii)
ISO/DIS 22166-1 - Robotics - Modularity for service robots
- Part 1: General requirements
ISO/TR 23482-2 - Robotics - Application of ISO 13482 -
Part 2: Application guidelines
EN ISO 12894 - Ergonomics of the thermal environment -
Medical supervision of individuals exposed to extreme CEN/TC 122 Ergonomics WP9
hot or cold environments (ISO 12894:2001)
EN ISO 13732-3 - Ergonomics of the thermal environment
- Methods for the assessment of human responses to
contact with surfaces - Part 3: Cold surfaces (ISO 13732-
3:2005)
ISO 11079 - Ergonomics of the thermal environment -
Determination and interpretation of cold stress when
using required clothing insulation (IREQ) and local cooling
effects
ISO 13732-1 - Ergonomics of the thermal environment -
Methods for the assessment of human responses to ISO/TC 159 Ergonomics WP9
contact with surfaces - Part 1: Hot surfaces
ISO 13732-3 - Ergonomics of the thermal environment -
Methods for the assessment of human responses to ISO/TC 159 Ergonomics WP9
contact with surfaces - Part 3: Cold surfaces
ISO/TS 13732-2 - Ergonomics of the thermal environment
- Methods for the assessment of human responses to
contact with surfaces - Part 2: Human contact with
surfaces at moderate temperature
SOPHIA Deliverable (Page xviii)

Annex IV. ISO stage codes 30

STAGE SUBSTAGE 90
DECISION
00 20 60 92 93 98 99
REGISTRATION START OF COMPLETION REPEAT AN REPEAT ABANDON PROCEED
MAIN ACTION OF MAIN EARLIER PHASE CURRENT
ACTION PHASE
00 00.00 00.20 00.60 00.98 00.99

PRELIMINARY Proposal for new Proposal for Close of review Proposal for Approval to
project received new project new project ballot proposal
under review abandoned for new project
10 10.00 10.20 10.60 10.92 10.98 10.99

PROPOSAL Proposal for new New project Close of voting Proposal New project New project
project registered ballot initiated returned to rejected approved
submitter for
further
definition
20 20.00 20.20 20.60 20.98 20.99

PREPARATORY New project Working draft Close of Project WD approved
registered in (WD) study comment period deleted for registration
TC/SC work initiated as CD
programme
30 30.00 30.20 30.60 30.92 30.98 30.99

COMMITTEE Committee draft CD study/ballot Close of voting/ CD referred Project CD approv. for
(CD) registered initiated comment period back to WG deleted reg. as DIS
30
https://www.iso.org/files/live/sites/isoorg/files/developing_standards/docs/en/stage_codes.pdf, Accessed October 29 2020.
SOPHIA Deliverable (Page xix)
STAGE SUBSTAGE 90
DECISION
00 20 60 92 93 98 99
ACTION PHASE
40 40.00 40.20 40.60 40.92 40.93 40.98 40.99

ENQUIRY DIS registered DIS ballot Full report Full report Project Full report
initiated: 12 Close of voting circulated: DIS circulated: deleted circulated: DIS
weeks referred back decision for approved for
to TC or SC new DIS ballot registration as
FDIS
50 50.00 50.20 50.60 50.92 50.98 50.99

APPROVAL Final text received Proof sent to Close of voting. FDIS or proof Project FDIS or proof
or FDIS registered secretariat or Proof returned referred back deleted approved for
for formal FDIS ballot by secretariat to TC or SC publication
approval initiated: 8
weeks
60 60.00 60.60
PUBLICATION International International
Standard under Standard
publication published
90 90.20 90.60 90.92 90.93 90.99

REVIEW International Close of review International International Withdrawal of
Standard under Standard to be Standard International
periodical revised confirmed Standard
review proposed by TC
or SC
SOPHIA Deliverable (Page xx)

STAGE SUBSTAGE 90
DECISION
00 20 60 92 93 98 99
ACTION PHASE
95 95.20 95.60 95.92 95.99

WITHDRAWAL Withdrawal Close of voting Decision not to Withdrawal of
ballot initiated withdraw International
International Standard
Standard
SOPHIA Deliverable (Page xxi)

Annex V. Standards rated as important for all WPs

WP WP WP WP WP WP WP WP WP
Standard
1 2 3 4 5 6 7 8 9
CEN/TR 1030-2 - Hand-arm vibration - Guidelines for vibration hazards reduction -
x
Part 2: Management measures at the workplace
ECMA-408 - Dart Programming Language Specification x
EN 1005-5 - Safety of machinery - Human physical performance - Part 5: Risk
x x
assessment for repetitive handling at high frequency
EN 13921 - Personal protective equipment - Ergonomic principles x
EN 62541-6 - OPC unified architecture - Part 6: Mappings (IEC 62541-6:2015) x
EN 62541-7 - OPC unified architecture - Part 7: Profiles (IEC 62541-7:2020) x
EN 62541-8 - OPC unified architecture - Part 8: Data Access (IEC 62541-8:2020) x
EN IEC 62541-13 - OPC Unified Architecture - Part 13: Aggregates (IEC 62541-
x
13:2020)
EN IEC 62559-3 - Use case methodology - Part 3: Definition of use case template
x
artefacts into an XML serialized format (IEC 62559-3:2017)
EN ISO 11064-2 - Ergonomic design of control centres - Part 2: Principles for the
x
arrangement of control suite (ISO 11064-2:2000)
EN ISO 11064-7 - Ergonomic design of control centres - Part 7: Principles for the
x
evaluation of control centres (ISO 11064-7:2006)
EN ISO 12100 - Safety of machinery - General principles for design - Risk
x
assessment and risk reduction (ISO 12100:2010)
ETSI TR 102546 V 1.1.1 - Electromagnetic compatibility and Radio spectrum
Matters (ERM) - Technical characteristics for Professional Wireless Microphone x
Systems (PWMS) - System Reference Document
FprEN IEC 62541-12 - OPC Unified Architecture - Part 12: Discovery and global
x
services
FprEN IEC 62541-6 - OPC Unified Architecture - Part 6: Mappings x
HD 546.3 S1 - Telecontrol equipment and systems; part 3: interfaces (electrical
x
characteristics) (IEC 60870-3:1989)
SOPHIA Deliverable (Page xxii)

Standard
1 2 3 4 5 6 7 8 9
IEC 61746-1*CEI 61746-1 - Calibration of optical time-domain reflectometers
x
(OTDR) - Part 1: OTDR for single-mode fibres
IEC 61842*CEI 61842 - Microphones and earphones for speech communications x
IEC 62463*CEI 62463 - Radiation protection instrumentation - X-ray systems for
x
the screening of persons for security and the carrying of the illicit items
IEC 62541-12*CEI 62541-12 - OPC unified architecture - Part 12: Discovery and
x
global services
IEC 65E/322/CD*CEI 65E/322/CD*IEC 62541-200*CEI 62541-200 - IEC 62541-
200: OPC Unified Architecture Specification - Part 200: OPC .NET Application x
Programming Interface (API)
ISO 10075-2 - Ergonomic principles related to mental workload - Part 2: Design
x x
principles
ISO 10551 - Ergonomics of the physical environment - Subjective judgement scales
x x
for assessing physical environments
ISO 11064-4 - Ergonomic design of control centres - Part 4: Layout and dimensions
x
of workstations
ISO 11226 - Ergonomics - Evaluation of static working postures x x
ISO 11226 Technical Corrigendum 1 - Ergonomics - Evaluation of static working
x
postures; Technical Corrigendum 1
ISO 11228-1 - Ergonomics - Manual handling - Part 1: Lifting and carrying x x x
ISO 11228-2 - Ergonomics - Manual handling - Part 2: Pushing and pulling x x x x
ISO 11228-3 - Ergonomics - Manual handling - Part 3: Handling of low loads at high
x x x x
frequency
ISO 11399 - Ergonomics of the thermal environment - Principles and application of
x
relevant international standards
ISO 11593 - Manipulating industrial robots - Automatic end effector exchange
x
systems - Vocabulary and presentation of characteristics
ISO 13731 - Ergonomics of the thermal environment - Vocabulary and symbols x
ISO 14539 - Manipulating industrial robots - Object handling with grasp-type
x
grippers - Vocabulary and presentation of characteristics
SOPHIA Deliverable (Page xxiii)
Standard
1 2 3 4 5 6 7 8 9
ISO 14738 - Safety of machinery - Anthropometric requirements for the design of
x
workstations at machinery
ISO 14738 Technical Corrigendum 1 - Safety of machinery - Anthropometric
x
requirements for the design of workstations at machinery; Technical Corrigendum 1
ISO 14738 Technical Corrigendum 2 - Safety of machinery - Anthropometric
x
requirements for the design of workstations at machinery; Technical Corrigendum 2
ISO 14835-2 - Mechanical vibration and shock - Cold provocation tests for the
assessment of peripheral vascular function - Part 2: Measurement and evaluation x
of finger systolic blood pressure
ISO 15265 - Ergonomics of the thermal environment - Risk assessment strategy for
x
the prevention of stress or discomfort in thermal working conditions
ISO 15743 - Ergonomics of the thermal environment - Cold workplaces - Risk
x
assessment and management
ISO 18646-1 - Robotics - Performance criteria and related test methods for service
x x
robots - Part 1: Locomotion for wheeled robots
ISO 18646-2 - Robotics - Performance criteria and related test methods for service
x
robots - Part 2: Navigation
ISO 19649 - Mobile robots - Vocabulary x
ISO 26800 - Ergonomics - General approach, principles and concepts x x x
ISO 6385 - Ergonomics principles in the design of work systems x
ISO 7243 - Ergonomics of the thermal environment - Assessment of heat stress
x
using the WBGT (wet bulb globe temperature) index
ISO 7730 - Ergonomics of the thermal environment - Analytical determination and
interpretation of thermal comfort using calculation of the PMV and PPD indices and x
local thermal comfort criteria
ISO 7933 - Ergonomics of the thermal environment - Analytical determination and
x
interpretation of heat stress using calculation of the predicted heat strain
ISO 8373 - Robots and robotic devices - Vocabulary x x
ISO 8996 - Ergonomics of the thermal environment - Determination of metabolic
x
rate
SOPHIA Deliverable (Page xxiv)
Standard
1 2 3 4 5 6 7 8 9
ISO 9241-11 - Ergonomics of human-system interaction - Part 11: Usability:
x
Definitions and concepts
ISO 9241-110 - Ergonomics of human-system interaction - Part 110: Interaction
x x
principles
ISO 9241-112 - Ergonomics of human-system interaction - Part 112: Principles for
x
the presentation of information // ISO/TC 159 Ergonomics
ISO 9241-129 - Ergonomics of human-system interaction - Part 129: Guidance on
x
software individualization // ISO/TC 159 Ergonomics
ISO 9241-14 - Ergonomics requirements for office work with visual display
x
terminals (VDTs) - Part 14: Menu dialogues
ISO 9241-143 - Ergonomics of human-system interaction - Part 143: Forms x x
ISO 9241-161 - Ergonomics of human-system interaction - Part 161: Guidance on
x
visual user-interface elements
ISO 9241-220 - Ergonomics of human-system interaction - Part 220: Processes for
x x
enabling, executing and assessing human-centred design within organizations
ISO 9241-304 - Ergonomics of human-system interaction - Part 304: User
x
performance test methods for electronic visual displays
ISO 9241-333 - Ergonomics of human-system interaction - Part 333: Stereoscopic
x
displays using glasses
ISO 9241-392 - Ergonomics of human-system interaction - Part 392: Ergonomic
x
recommendations for the reduction of visual fatigue from stereoscopic images
ISO 9241-394 - Ergonomics of human-system interaction - Part 394: Ergonomic
requirements for reducing undesirable biomedical effects of visually induced motion x
sickness during watching electronic images
ISO 9241-400 - Ergonomics of human-system interaction - Part 400: Principles and
x
requirements for physical input devices
ISO 9241-410 - Ergonomics of human-system interaction - Part 410: Design criteria
x x
for physical input devices
ISO 9241-410 AMD 1 - Ergonomics of human-system interaction - Part 410: Design
x
criteria for physical input devices; Amendment 1
SOPHIA Deliverable (Page xxv)

Standard
1 2 3 4 5 6 7 8 9
ISO 9241-420 - Ergonomics of human-system interaction - Part 420: Selection of
x
physical input devices
ISO 9241-5 - Ergonomic requirements for office work with visual display terminals
x
(VDTs) - Part 5: Workstation layout and postural requirements
ISO 9241-6 - Ergonomic requirements for office work with visual display terminals
x
(VDTs) - Part 6: Guidance on the work environment
ISO 9283 - Manipulating industrial robots - Performance criteria and related test
x x
methods
ISO 9409-1 - Manipulating industrial robots - Mechanical interfaces - Part 1: Plates x
ISO 9409-2 - Manipulating industrial robots - Mechanical interfaces - Part 2: Shafts x
ISO 9787 - Robots and robotic devices - Coordinate systems and motion
x x
nomenclatures
ISO 9886 - Ergonomics - Evaluation of thermal strain by physiological
x
measurements
ISO 9920 - Ergonomics of the thermal environment - Estimation of thermal
x
insulation and water vapour resistance of a clothing ensemble
ISO 9946 - Manipulating industrial robots - Presentation of characteristics x
ISO/DIS 10218-1 - Robotics - Safety requirements for robot systems in an industrial
x x
environment - Part 1: Robots
ISO/DIS 14738 - Safety of machinery - Anthropometric requirements for the design
x
of workstations for industries and services
ISO/DIS 18646-3 - Robotics - Performance criteria and related test methods for
x x
service robots - Part 3: Manipulation
ISO/DIS 18646-4 - Robotics - Performance criteria and related test methods for
x
service robots - Part 4: Lower-back support robots
ISO/DIS 22166-1 - Robotics - Modularity for service robots - Part 1: General
x
requirements
ISO/IEC 19506 - Information technology - Object Management Group Architecture-
Driven Modernization (ADM) - Knowledge Discovery Meta-Model (KDM)
SOPHIA Deliverable (Page xxvi)

Standard
1 2 3 4 5 6 7 8 9
ISO/IEC 29341-26-13 - Information technology - UPnP Device Architecture - Part
x
26-13: Telephony device control protocol - Level 2 - Phone management service
ISO/IEC 29341-30-12 - Information technology - UPnP Device Architecture - Part
30-12: IoT management and control device control protocol - IoT management and x
control transport generic service
ISO/IEC DIS 23360-4-2 - Linux Standard Base (LSB) - Part 4-2: Core specification
x
for AMD64 (X86-64) architecture
ISO/IEC TR 29156 - Information technology - Guidance for specifying performance
requirements to meet security and usability needs in applications using biometrics // x
ISO/IEC JTC 1/SC 37 Biometrics
ISO/IEC/IEEE 42030 - Software, systems and enterprise - Architecture evaluation
x
framework
ISO/TR 12295 - Ergonomics - Application document for International Standards on
manual handling (ISO 11228-1, ISO 11228-2 and ISO 11228-3) and evaluation of x x x
static working postures (ISO 11226)
ISO/TR 13309 - Manipulating industrial robots - Informative guide on test
equipment and metrology methods of operation for robot performance evaluation in x
accordance with ISO 9283
ISO/TR 20218-1 - Robotics - Safety design for industrial robot systems - Part 1:
x
End-effectors
ISO/TR 20218-2 - Robotics - Safety design for industrial robot systems - Part 2:
x
Manual load/unload stations
ISO/TR 23482-1 - Robotics - Application of ISO 13482 - Part 1: Safety-related test
x
methods
ISO/TR 9241-100 - Ergonomics of human-system interaction - Part 100:
x
Introduction to standards related to software ergonomics
ISO/TR 9241-331 - Ergonomics of human-system interaction - Part 331: Optical
x
characteristics of autostereoscopic displays
ISO/TS 15066 - Robots and robotic devices - Collaborative robots x x
SOPHIA Deliverable (Page xxvii)

Standard
1 2 3 4 5 6 7 8 9
prEN ISO 7933 - Ergonomics of the thermal environment - Analytical determination
and interpretation of heat stress using the predicted heat strain model (ISO/DIS x
7933:2018)
ISO/TS 10303-1438 - Industrial automation systems and integration - Product data
x
representation and exchange - Part 1438: Application module: Work structure
ISO/IEC 30113-11 - Information technology - Gesture-based interfaces across
x
devices and methods - Part 11: Single-point gestures for common system actions
ISO/IEC 30113-1 - Information technology - User interface - Gesture-based
x
interfaces across devices and methods - Part 1: Framework
SOPHIA Deliverable (Page xxviii)

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Socio-Physical Interaction Skills for Cooperative Human-Robot Systems in

Socio-Physical Interaction Skills for Cooperative Human-

Deliverable due date: 30.11.2020 Actual Submission Date: 2020-11-30

Start Date of the Project: 01.12.2019 Duration: 48 months

Lead contractor of this deliverable: DIN Revision: 3.0

Reference WP and Tasks: WP10 / Task 10.4 Authors: Lydia Vogt

Dissemination Level : PU Nature: R

SOPHIA Deliverable (Page 0)

29.10.2020 1.0 First draft

02.11.2020 1.1 Review by Alberto Ranavolo (INAIL)

05.11.2020 1.2 Review by Gundula Haber (DIN)

12.11.2020 2.0 Second draft for internal review

30.11.2020 Final Final version for submission

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3.3.9. WP 9 Integration, Validation and Assessment ............................................................................... 39

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AWI Approved work item

BSI British Standards Institution

CEN European Committee for Standardization

CENELEC (CLC) European Committee for Electrotechnical Standardization

CWA CEN Workshop Agreement

DIN German Institute for Standardization

DIS Draft International Standard

ETSI European Telecommunications Standards Institute

FDIS Final draft international standard

HRC Human robot collaboration

ISO International Organization for Standardization

IEC International Electrotechnical Commission

ITU International Telecommunication Union

JTC Joint technical committee

NEN Netherlands Standards Institute

prEN Draft European Standard

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2.1. Types of standards

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Figure 1 Types of standards and specifications

2.1.1. Consortium standard

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Table 1 Types of standards as defined in EN 45020

Terminology standard Concerned with terms, accompanied by their definitions etc.

Concerned with testing methods, sometimes supplemented with other provisions

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2.2. Levels of Standardization

Figure 2 National, European and International standardization landscape

2.2.1. International Standardization Work

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2.2.2. European Standardization Work

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2.2.3. National standardization work

2.3. Development of standards

Figure 3 DIN's involvement in European and international standards committees

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2.3.2. Development of a European Standard (EN)

Acceptance for the proposal requires for CENELEC:

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2.3.3. Development of CEN Workshop Agreement (CWA)

Figure 5 Development of a CWA

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3. Research and analysis of current standardization activities in the field of