Dynamic Risk Assessment and Active Response Strategy for Industrial HumanRobot Collaboration Abstract   To enhance flexibility and sustainability, humanrobot collaboration is becoming a major feature of nextgeneration robots. The safety assessment strategy is the first and crucial issue that needs to be considered due to the removal of the safety barrier. This paper determined the set of safety indicators and established an assessment model based on the latest safetyrelated ISO standards and manufacturing conditions. A dynamic modified SSM (speed and separation monitoring) method is presented for ensuring the safety of humanrobot collaboration while maintaining productivity as high as possible. A prototype system including dynamic risk assessment and safe motion control is developed based on the virtual model of the robot and human skeleton point data from the vision sensor. The realtime risk status of the working robot can be known and the risk field around the robot which is visualized in an augmented reality environment so as to ensure safe humanrobot collaboration. This system is experimentally validated on a humanrobot collaboration cell using an industrial robot with six degrees of freedom.

Proof of concept of a projectionbased safety system for humanrobot collaborative engine assembly In the past years humanrobot collaboration has gained interest among industry and production environments. While there is interest towards the topic, there is a lack of industrially relevant cases utilizing novel methods and technologies. The feasibility of the implementation, worker safety and production efficiency are the key questions in the field. The aim of the proposed work is to provide a conceptual safety system for contextdependent, multimodal communication in humanrobot collaborative assembly, which will contribute to safety and efficiency of the collaboration. The approach we propose offers an addition to traditional interfaces like push buttons installed at fixed locations. We demonstrate an approach and corresponding technical implementation of the system with projected safety zones based on the dynamically updated depth map and a graphical user interface (GUI). The proposed interaction is a simplified twoway communication between human and the robot to allow both parties to notify each other, and for the human to coordinate the operations.