The use of pointed or edged tools or objects is one of the most challenging aspects of today's application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed impactors is less well studied than for blunt impactors. Consequently, the standards specify well-reasoned force and pressure thresholds for blunt impactors and advise avoiding any edges and corners in contacts. Nevertheless, pointed or edged impactor geometries cannot be completely ruled out in real pHRI applications. For example, to allow edged or pointed tools such as screwdrivers near human operators, the knowledge of injury severity needs to be extended so that robot integrators can perform well-reasoned, time-efficient risk assessments. In this paper, we provide the initial datasets on injury prevention for the human hand based on drop tests with surrogates for the human hand, namely pig claws and chicken drumsticks. We then demonstrate the ease and efficiency of robot use using the dataset for contact on two examples. Finally, our experiments provide a set of injuries that may also be expected for human subjects under certain robot mass-velocity constellations in collisions. To extend this work, testing on human samples and a collaborative effort from research institutes worldwide is needed to create a comprehensive human injury avoidance database for any pHRI scenario and thus for safe pHRI applications including edged and pointed geometries.

翻译：在物理人机交互（pHRI）的当前应用中，使用尖头或带刃工具或物体是最具挑战性的方面之一。原因之一在于，相较于钝性冲击物，此类带刃或尖头冲击物所造成伤害的严重程度研究尚不充分。因此，相关标准为钝性冲击物规定了经过充分论证的力和压力阈值，并建议在接触中避免任何边缘和尖角。然而，在实际的pHRI应用中，尖头或带刃的冲击物几何形状无法完全排除。例如，为允许诸如螺丝刀等带刃或尖头工具在人类操作员附近使用，需要扩展关于伤害严重程度的知识，以便机器人集成商能够进行合理且高效的风险评估。本文基于对人类手部的替代物（即猪爪和鸡腿）进行跌落测试，提供了关于人类手部损伤防护的初步数据集。随后，我们通过两个接触示例，展示了利用该数据集实现机器人使用的便捷性和高效性。最后，我们的实验提供了一组在特定机器人质量-速度组合的碰撞条件下，人类受试者也可能预期遭受的损伤类型。为推进此项工作，需要在人体样本上进行测试，并联合全球研究机构共同努力，以建立一个适用于任何pHRI场景（从而涵盖包括带刃和尖头几何形状的安全pHRI应用）的全面人类损伤规避数据库。