{"id":"https://openalex.org/W3162671829","doi":"https://doi.org/10.1109/isr50024.2021.9419528","title":"A Revised Framework for Managing the Complexity of Contact Hazards in Collaborative Robotics","display_name":"A Revised Framework for Managing the Complexity of Contact Hazards in Collaborative Robotics","publication_year":2021,"publication_date":"2021-03-04","ids":{"openalex":"https://openalex.org/W3162671829","doi":"https://doi.org/10.1109/isr50024.2021.9419528","mag":"3162671829"},"language":"en","primary_location":{"id":"doi:10.1109/isr50024.2021.9419528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr50024.2021.9419528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060814962","display_name":"Roland Behrens","orcid":"https://orcid.org/0000-0002-5561-454X"},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roland Behrens","raw_affiliation_strings":["Robotic Systems Business Unit, Fraunhofer IFF, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Business Unit, Fraunhofer IFF, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051817928","display_name":"Norbert Elkmann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Norbert Elkmann","raw_affiliation_strings":["Robotic Systems Business Unit, Fraunhofer IFF, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Business Unit, Fraunhofer IFF, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8125,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72483837,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"252","last_page":"258"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10809","display_name":"Occupational Health and Safety Research","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7814674377441406},{"id":"https://openalex.org/keywords/factoring","display_name":"Factoring","score":0.7703202366828918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6462352275848389},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6275806427001953},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5876052975654602},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.5707234144210815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5276210308074951},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47746017575263977},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.47429898381233215},{"id":"https://openalex.org/keywords/stress","display_name":"Stress (linguistics)","score":0.45771825313568115},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3369165062904358},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.16397002339363098},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15805652737617493}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7814674377441406},{"id":"https://openalex.org/C177225278","wikidata":"https://www.wikidata.org/wiki/Q192674","display_name":"Factoring","level":2,"score":0.7703202366828918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462352275848389},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6275806427001953},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5876052975654602},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.5707234144210815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5276210308074951},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47746017575263977},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.47429898381233215},{"id":"https://openalex.org/C21036866","wikidata":"https://www.wikidata.org/wiki/Q181767","display_name":"Stress (linguistics)","level":2,"score":0.45771825313568115},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3369165062904358},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.16397002339363098},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15805652737617493},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/isr50024.2021.9419528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr50024.2021.9419528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-637552","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-637552.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IFF","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/411784","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/411784","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W71130076","https://openalex.org/W101306706","https://openalex.org/W215526186","https://openalex.org/W1489567249","https://openalex.org/W1593554642","https://openalex.org/W1913069621","https://openalex.org/W1964453179","https://openalex.org/W1978829341","https://openalex.org/W1985307679","https://openalex.org/W1985664277","https://openalex.org/W1992918342","https://openalex.org/W1994143652","https://openalex.org/W2004407019","https://openalex.org/W2019626605","https://openalex.org/W2021545798","https://openalex.org/W2027880398","https://openalex.org/W2030763821","https://openalex.org/W2031647209","https://openalex.org/W2041570633","https://openalex.org/W2058185894","https://openalex.org/W2059478187","https://openalex.org/W2062671698","https://openalex.org/W2068401309","https://openalex.org/W2072856001","https://openalex.org/W2073594722","https://openalex.org/W2074631091","https://openalex.org/W2082059723","https://openalex.org/W2092792489","https://openalex.org/W2093989592","https://openalex.org/W2100913768","https://openalex.org/W2112004502","https://openalex.org/W2116139612","https://openalex.org/W2124096820","https://openalex.org/W2131063775","https://openalex.org/W2133465965","https://openalex.org/W2135935293","https://openalex.org/W2136664811","https://openalex.org/W2152389269","https://openalex.org/W2167435944","https://openalex.org/W2167441442","https://openalex.org/W2260109885","https://openalex.org/W2294547717","https://openalex.org/W2415038460","https://openalex.org/W2887494062","https://openalex.org/W2942522555","https://openalex.org/W4401915440","https://openalex.org/W6604063610","https://openalex.org/W6676737555"],"related_works":["https://openalex.org/W2377710379","https://openalex.org/W2947911821","https://openalex.org/W2393473966","https://openalex.org/W2260256814","https://openalex.org/W3165413239","https://openalex.org/W3205513966","https://openalex.org/W2052971528","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Power":[0],"and":[1,82,165,186,201],"force":[2],"limiting":[3],"(PFL)":[4],"of":[5,44,79,85,96,104,118,124,128,140,149,153,163,170,193],"ISO/TS":[6],"15066":[7],"sets":[8],"the":[9,52,68,77,88,97,102,110,126,131,188,204],"requirements":[10],"to":[11,19,35,49,146,157],"operate":[12],"collaborative":[13,64,121],"robots":[14],"safely":[15],"in":[16,22,63,120],"close":[17],"proximity":[18],"humans.":[20],"Robots":[21],"PFL":[23,55,98],"mode":[24],"may":[25],"not":[26,71],"exceed":[27],"biomechanical":[28],"limits":[29,159],"during":[30],"accidental":[31,194],"contact":[32,80],"with":[33],"humans":[34],"protect":[36],"them":[37],"from":[38],"serious":[39],"injury.":[40],"A":[41],"growing":[42],"number":[43],"robot":[45,61],"users":[46],"are":[47],"coming":[48],"realize":[50],"that":[51,143],"framework":[53,69,173],"behind":[54],"is":[56,155,181],"too":[57],"strict,":[58],"ultimately":[59],"constraining":[60],"efficiency":[62],"applications.":[65],"For":[66],"instance,":[67],"does":[70],"provide":[72],"any":[73,116],"options":[74],"for":[75,160,177],"factoring":[76],"consequences":[78],"hazards":[81],"their":[83,199],"probability":[84],"occurrence":[86],"into":[87],"risk":[89],"assessment.":[90],"This":[91],"paper":[92],"proposes":[93],"a":[94,105,175],"revision":[95],"framework.":[99],"Based":[100],"on":[101,183,203],"findings":[103,185],"literature":[106],"survey,":[107],"we":[108],"introduce":[109],"new":[111],"severity":[112],"S0,":[113],"which":[114,180,197],"eliminates":[115],"form":[117],"injury":[119],"robotics.":[122],"Instead":[123],"taking":[125],"onset":[127],"pain":[129],"as":[130],"sole":[132],"tolerable":[133,141],"stress":[134,142,154],"level,":[135],"S0":[136],"defines":[137],"three":[138],"sublevels":[139],"additionally":[144],"correspond":[145],"different":[147],"levels":[148],"risk.":[150],"Each":[151],"sublevel":[152],"related":[156],"separate":[158],"two":[161,166],"fields":[162],"application":[164],"differently":[167],"composed":[168],"groups":[169],"people.":[171],"The":[172],"includes":[174],"structure":[176],"organizing":[178],"limits,":[179],"based":[182],"research":[184],"incorporates":[187],"most":[189],"relevant":[190],"load":[191],"factors":[192],"human-robot":[195],"contacts,":[196],"govern":[198],"intensity":[200],"effects":[202],"human":[205],"body.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}