The effect of the radius of curvature of the base edge of the robot covered with cushion covering on contact pressure in human collision

In this report, the purpose is to understand the effect of curvature radius of the base edge of the robot covered with a cushion covering on the contact pressure in a collision between a human and a robot. We considered modeling to replace the contact problem between human legs and base edge with curvature of robot covered with cushion covering with the one between cylinder-cylinder, and obtained the maximum contact pressure by the calculation method of the previous research and simulation and the experiment using the human dummy and the probe such as a robot base edge coated with cushion covering. In addition, we compared the values of the three methods and considered their validity. Then, it was found that when the radius of curvature became smaller and the applied force became larger, the difference between the simulated value and the experimental value suddenly increased from the calculated value.