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Standards & Regulations

Date: Wednesday, Nov 9 2022

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ISO 13482 �Robots and robotic devices — Safety requirements for personal care robots

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About - ISO 13482

Guidelines for the inherently safe design, protective measures, and information for use of personal care robots

Particularly

Mobile servant robot
Physical assistant robot
Person carrier robot

ISO 12100 [1] or ISO 13849-1

Mobile servant robots: Mobile platforms with or without manipulators for fetch and carry tasks or for information exchange, working in household environments as well as public areas x

Person carrier robots: Robots designated to transport a person, including small footboards for a single person but also autonomous vehicles with a cabin for several passengers. The use on public roads is also included in the scope but such robots will have to fulfil additional requirements from traffic regulations x

Physical assistant robots: Wearable robots (e.g. exoskeletons) that are fastened to the body of the user as well as mobility aids (e.g. robotic walking frames, support devices for standing up) extending the physical abilities of the user in a supplementary or augmentary manner

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About - ISO 13482

Mobile servant robot

ISO 12100 [1] or ISO 13849-1

Mobile servant robots: Mobile platforms with or without manipulators for fetch and carry tasks or for information exchange, working in household environments as well as public areas x

Person carrier robots: Robots designated to transport a person, including small footboards for a single person but also autonomous vehicles with a cabin for several passengers. The use on public roads is also included in the scope but such robots will have to fulfil additional requirements from traffic regulations x

Physical assistant robots: Wearable robots (e.g. exoskeletons) that are fastened to the body of the user as well as mobility aids (e.g. robotic walking frames, support devices for standing up) extending the physical abilities of the user in a supplementary or augmentary manner

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About - ISO 13482

Physical assistant robot

ISO 12100 [1] or ISO 13849-1

Mobile servant robots: Mobile platforms with or without manipulators for fetch and carry tasks or for information exchange, working in household environments as well as public areas x

Person carrier robots: Robots designated to transport a person, including small footboards for a single person but also autonomous vehicles with a cabin for several passengers. The use on public roads is also included in the scope but such robots will have to fulfil additional requirements from traffic regulations x

Physical assistant robots: Wearable robots (e.g. exoskeletons) that are fastened to the body of the user as well as mobility aids (e.g. robotic walking frames, support devices for standing up) extending the physical abilities of the user in a supplementary or augmentary manner

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About - ISO 13482

Person carrier robot

ISO 12100 [1] or ISO 13849-1

Mobile servant robots: Mobile platforms with or without manipulators for fetch and carry tasks or for information exchange, working in household environments as well as public areas x

Person carrier robots: Robots designated to transport a person, including small footboards for a single person but also autonomous vehicles with a cabin for several passengers. The use on public roads is also included in the scope but such robots will have to fulfil additional requirements from traffic regulations x

Physical assistant robots: Wearable robots (e.g. exoskeletons) that are fastened to the body of the user as well as mobility aids (e.g. robotic walking frames, support devices for standing up) extending the physical abilities of the user in a supplementary or augmentary manner

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Products - ISO 13482

ISO 13482:2014 presents significant hazards and describes how to deal with them for each personal care robot type.

ISO 13482:2014 covers robotic devices used in personal care applications, which are treated as personal care robots.

ISO 13482:2014 is limited to earthbound robots.

ISO 13482:2014 does not apply to:

robots travelling faster than 20 km/h
robot toys;
water-borne robots and flying robots;
industrial robots, which are covered in ISO 10218;
robots as medical devices;
military or public force application robots.

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Main prescriptions - ISO 13482

Risk Assessment (Section 4)

A personal care robot shall be designed according to the principles of ISO 12100 (Safety of Machinery) for all hazards identified for its application.
Risk assessment related to robot’s physical parameters, autonomous decision making and foreseeable misuse

Safety requirements and protective measures (Section 5)

General safety, battery hazards, Energy storage and supply, Robot startup and restarts of regular operation, Electrostatic potentials, Robot shape related hazards, Emissions, Vibrations , EM interference
Hazards due to stress, posture and usage, Hazards due to insufficient durability, Hazards due to incorrect autonomous decisions and actions, Hazards due to contact with moving components, Hazards due to lack of awareness of robots by humans, Hazardous environmental conditions, Hazardous environmental conditions

Safety related control systems requirements (Section 6)

Emergency stops, motion/forces related parameters, limited operational spaces, Safety-related environmental sensing, Singularity protection, UI Design, Operation modes, c control devices

Verification and validation (Section 7)

8 pre defined verification methods (Annex A)

Information of use (Section 8)

Development of user/service manual, marking and indications

List of hazards and examples related to personal robots (Annex A-E)

List of potential hazards and use cases to explain standard

Image credits: ISO 13482 - Annex B

Jash: Before we start we main prescriptions I would like to point that since our team uses a platform developed by another company many of the standards/regulations might not directly apply but majority of them are partially still in the picture. The key takeaways of this standard are mentioned from Section 4 to Section 8. Lets understand each of them. �

Section 4 Risk assessment: The standard cites to follow another ISO standard that is 12100 safety of machinery for the hazard identification, Annex A has a detailed list of all the significant hazards for personal robot ranging from battery, battery charging to motions and its permitted parameters for safety reasons. Section highly focuses on unexpected motions and unexpected decision taken by the robot and its software for analysis of hazards related to it. After performing the hazard identification, the standard suggests to perform risk estimation on all the hazards. Including the risk that varies Case by case.

Section 5 Safety requirement and protective measures: This sections talks about 3 main things: a) inherently safe design; that is all mentioned in ISO 12100 b) protective measures; What precautions can be taken to avoid danger in the first place, unfortunately if a situation arise what are the protective measure to be taken to ensure harm is minimised. c) information for use: The user manual book that usually we all threw away the moment our amazon shipment arrives. This section consist to many more points such as durability of materials, contact with moving components, emissions and vibrations from robot. Emission here does not only mean the carbon emission since most of the robots are powered thru electricity these days but it also involves emissions of signals and waves. For example if a lot if using an ultrasonic frequency for some distance measure to avoid obstacles may be. That frequency should be such that it doesn't cause any irritation, long term damage to any person who uses the robot. �
Section 6 Safety related control systems requirements: This section includes the information about placement, reach and tasks performed by emergency stops and protective stops. I would like to point that hello robot only has a protective kill that fully stops all the robot actions, opens the gripper if engaged but joints are always powered unless and until we turn off the robot. That power button is located in the bottom of the robot which isnt very convenient to reach in emergency situations. But since the robot is very low mass the protective kill almost always helped in the situations we have been testing it

Section 7 Verification and validation: This section talks about the 8 predefined verification methods to be taken to verify the control system, the steps are

inspection
practical tests;
measurement
observation during operation
examination of circuit diagrams
examination of software
review of task-based risk assessment
examination of layout drawings and relevant documents�

Section 8: Information related to development of user manual, battery warnings, meaning of all the markings present on robot, all the physical parameters, IP ratings and serial numbers.�
Annex A-E has uses cases that explains the potential hazards and uses cases that applies to ISO 13482

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Application in the the Team Project - ISO 13482

Mobile autonomous person carrier (person carrier robot)

A manipulator-type personal care robot (mobile servant robot)

Image credits: ISO 13482 - Annex B, Link1, Link2

Jash: Here is an example of how the how the standard applies to our project: The first example here is of a Japanese person carrier robot, The spaces are marked as contours and each space has set of rules attached to it. According to standard no space rules apply when robot is in manual mode that is teleoperated but when the robot is autonomous this drawings stand true.

Max space: could be the room where robot is present
Restricted space: Expected region where ideally nothing should come in except the safety object human for reaching kill switch
Monitored space: constantly updated with sensors on robot
Safe guarded space:If someone suddenly comes in this space firstly the robot will slow down all its actuations by 50% atleast and recalculate its path to avoid danger
Protective space: the robot should fully stop if a safety related object enters the space.

The difference between both can be seen by the extra blue region of restricted space due to presence of manipulator.

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Application in the the Team Project - ISO 13482

Safety related �markings

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Interact with people using a low mass, contact-sensitive body.��Standard requirement for power: below 25VAC and 60VDC

Application in the the Team Project - ISO 13482

TouRI - Mobile servant robot

Autonomous features like navigation

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Life cycle - ISO 13482

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Standard - 2

IEEE 1873-2015 Map Data Representation for Navigation

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IEEE 1873-2015 - Motivation

Usage of maps

Localization
Mapping
Guidance and control

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IEEE 1873-2015 - What is the standard about

Common representation of 2D maps - Metric and Topological
XML data format for exchanging maps between robots, computers and other devices
XML format is easy for humans to read and modify
Use the standard to represent metric maps, topological maps and their combination

Map data models and formats for robot navigation tasks.

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Build global map of environment by combining maps collected by multiple robots using different modalities
Easily compare and evaluate maps obtained from various robots

3 Types of maps

Grid maps
Geometric maps
Topological maps

IEEE 1873-2015 - Representations and their advantages

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IEEE 1873-2015 - Products and Markets

ISO 13482:2014 defines a recommended format for exchanging map data among robots, computers, and other devices

ISO 13482:2014 is applicable to all robots that localize using a Map and need interoperable map data.

Surveillance Robots
Hospital Delivery Robots
Home/Social Robots
Warehouse Robots
Self Driving Cars

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Prescriptions

The MDR standards include:

Grid Maps
Geometric Maps
Topological Maps

All these maps are inherited from Local Map.

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Prescriptions

The MDR standards are applicable to:

Grid Maps
Geometric Maps
Topological Maps

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The map is represented as square grids with free spaces given value 0 and obstacles given value 255
Typically generated by a scanning laser sensor
Used for self-localization of robot in local area

Prescriptions

Grid Maps

By default, a grid map shall consist of identical and square cells, and the map shall be rectangular and aligned to a local coordinate system (i.e., edges of the rectangular map are parallel to the x- and y-axes of the local coordinate system). The bottom left cell is (0,0).

Discrete metric maps are not so common for everyday human use, but are ubiquitous in robotics applications. They can be thought of as bitmap representations of, for example, the floor plan of a building, where the space is discretized by pixels to form a digital image thereof, where each pixel describes whether the corresponding part of the map belongs to the floor or wall of the space

—Metric map #1: 2D occupancy grid map is used for representing an outdoor environment. The map is generated by a 2D laser scanner sensor. —Metric map #2: 3D voxel map is used.a The map is generated by a stereo camera system

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The map is represented as continuous geometric features such as points and line segments
Coordinates are represented as continuous range of values
Used for self-localization of robot in local area

Prescriptions

Geometric Maps

In geometric maps, local maps ni store collections of geometric entities. In the following, points and line segments are considered as geometric entities. Points and line segments represent the boundaries of obstacles in the environment.

Can describe location of robot and objects in its world as a configuration space

• For mobile robots, usually collapse 6 d.o.f. to 2 d.o.f. – assumes robot moves on ground plane

• Expand actual obstacles by robot size

• Navigation then involves finding routes through freespace

Discrete metric maps are not so common for everyday human use, but are ubiquitous in robotics applications. They can be thought of as bitmap representations of, for example, the floor plan of a building, where the space is discretized by pixels to form a digital image thereof, where each pixel describes whether the corresponding part of the map belongs to the floor or wall of the space

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The map is represented as a graph consisting of a set of nodes and edges connecting them
Nodes represent poses, sensor readings. Edges connect neighboring nodes
Used for storing visual features, like in a floor plan
Usually tough to represent open spaces with few features
Used for global self-localization of robot

Prescriptions

Topological Maps

A topological map is inherited from the local map class. The offset coordinates can be used to define the poses of the origin of the topological map. Offset coordinates are optional for topological maps because pure topological maps have not any metric information.

Can represent landmarks and the routes between them as nodes and edges in a graph

• Edges can represent motor action needed to get from one node to the next, or direction, distance, path convenience etc.

• Can then use standard AI graph search methods to find route from start to goal

An everyday example of a topological map is the one commonly used for subway or bus networks, where primary information consists of nodes in the map (stations) and the connectivity between them (which subway or bus line goes between which stations). In this form of topological maps, relative positions and distances between map elements are less important. An example from robotics is a map of a building interior, where nodes in the map denote landmarks or distinctive features of the corresponding places, and edges represent possible routes for a mobile robot to navigate from one room to another

Perceptual aliasing is the phenomenon where different places generate a similar visual (or, in general, perceptual) footprint.

Once a physical environment is mapped to a topological map, path planning becomes a simple graph search. Also, topological representation is much more compact than metric maps. However, the drastic reduction in data comes at the cost of increased perceptual aliasing. Vertices of a topological map are augmented with various types of landmarks, requiring a proper interpretation of sensor readings to infer locations of a mobile robot. Reducing perceptual aliasing is critical for the success of robot navigation. Therefore, the data format should be defined so that various kinds of information can be included in the nodes and edges of a topological map to reduce the perceptual aliasing.

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Application in TouRI

The map of the environment is represented as an occupancy grid and fed to the robot prior to operation
The map is generated by a LiDAR sensor on the robot
The map is used to provide goal locations to the robot for autonomous traversal and for the self-localization of the robot in local and global areas
Localization is done using the robot localization ROS package that fuses sensor data from wheel encoders, IMU and LiDAR for the same
The progress of the robot on the map is made available to the user through the interface
The map generated is of 8000 * 8000 grids and has a resolution of 0.025 m (metres per occupancy grid block)
The map data conforms to the data format for grid maps (as mentioned above) mentioned by the standard

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Application in TouRI

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Thank You

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Annex A: Safety Validation

A personal care robot shall be designed according to the principles of ISO 12100 for all hazards identified for its application, comprising the following:

inherently safe design
protective measures
information for use

The satisfaction of the safety requirements can be verified by one or more methods, such as:

inspection
practical tests;
measurement
observation during operation
examination of circuit diagrams
examination of software
review of task-based risk assessment
examination of layout drawings and relevant documents