D'Antona Andrea, Farsoni Saverio, Rizzi Jacopo, Bonfè Marcello
Department of Engineering, University of Ferrara, 44121 Ferrara, Italy.
Sensors (Basel). 2025 Jun 23;25(13):3913. doi: 10.3390/s25133913.
The integration of robots into collaborative environments, where they physically interact with humans, requires systems capable of ensuring both safety and performance. This work introduces the development of a Variable Stiffness Impact Testing Device (VSITD), designed to emulate physical human-robot interaction by replicating biomechanical properties such as muscle elasticity and joint compliance. The proposed system integrates a Variable Stiffness Mechanism (VSM) with a multi-sensor configuration that includes a high-resolution Force Sensitive Resistors (FSR) matrix, piezoelectric load cells, and an FPGA-based acquisition unit. The FPGA enables fast acquisition of contact forces and pressures, while the mechanical stiffness configuration of the VSM can be rapidly reconfigured to simulate a wide range of impact scenarios. The device aims to validate compliance with the standard ISO/TS 15066 safety standard of robotic work cell in the context of collaborative application. The modularity and flexibility of the VSITD make it suitable for evaluating a wide range of collaborative robotic platforms, providing a reliable tool for pre-deployment validation in shared workspaces. By combining real-time sensing with adaptable stiffness control, the VSITD establishes a new benchmark for safety testing in human-robot collaboration scenarios.
将机器人集成到与人类进行物理交互的协作环境中，需要能够确保安全性和性能的系统。这项工作介绍了一种可变刚度冲击测试装置（VSITD）的开发，该装置旨在通过复制生物力学特性（如肌肉弹性和关节顺应性）来模拟人机物理交互。所提出的系统将可变刚度机制（VSM）与多传感器配置集成在一起，该配置包括高分辨率力敏电阻（FSR）矩阵、压电式称重传感器和基于FPGA的采集单元。FPGA能够快速采集接触力和压力，而VSM的机械刚度配置可以快速重新配置，以模拟各种冲击场景。该装置旨在验证在协作应用背景下是否符合机器人工作单元的ISO/TS 15066安全标准。VSITD的模块化和灵活性使其适用于评估各种协作机器人平台，为共享工作空间中的预部署验证提供了可靠的工具。通过将实时传感与自适应刚度控制相结合，VSITD为机器人协作场景中的安全测试建立了新的基准。
