FprEN ISO 13482

• Abstract:

  This standard specifies the safety requirements for service robots used in personal and professional/commercial applications. The service robots concerned, and the extent to which hazards, hazardous situations or hazardous events are covered, are indicated in this standard. ; This safety standard considers the conditions for physical human-robot contact to formulate safety requirements for service robots. It includes additional information on the functional safety for service robots.; This standard is not intended to cover robots used in industrial applications and medical applications.

• Status: Not Published
• Publication Date: 09-Feb-2027
• ICS: 25.040.30 - Industrial robots. Manipulators
• Technical Committee: CEN/TC 310 - Advanced Manufacturing Technologies
• Drafting Committee: CEN/TC 310 - Advanced Manufacturing Technologies
• Current Stage: 5020 - Submission to Vote - Formal Approval
• Start Date: 17-Sep-2026
• Completion Date: 17-Sep-2026
• Directive: 2006/42/EC - Directive 2006/42/EC of the European Parliament and of the Council of 17 May 2006 on machinery, and amending Directive 95/16/EC (recast)
• Directive:

  ---

  2023/1230 - Regulation (EU) 2023/1230 of the European Parliament and of the Council of 14 June 2023 on machinery and repealing Directive 2006/42/EC of the European Parliament and of the Council and Council Directive 73/361/EEC (Text with EEA relevance)
• Directive:

  ---

  2023/1230 - Regulation (EU) 2023/1230 of the European Parliament and of the Council of 14 June 2023 on machinery and repealing Directive 2006/42/EC of the European Parliament and of the Council and Council Directive 73/361/EEC (Text with EEA relevance)
• Directive:

  ---

  2023/1230 - Regulation (EU) 2023/1230 of the European Parliament and of the Council of 14 June 2023 on machinery and repealing Directive 2006/42/EC of the European Parliament and of the Council and Council Directive 73/361/EEC (Text with EEA relevance)
• Mandate: M/396 - Mandate to CEN and Cenelec for standardisation in the field of machinery
• Mandate: M/605 - COMMISSION IMPLEMENTING DECISION of 20.1.2025 on a standardisation request to the European Committee for Standardization and to the European Committee for Electrotechnical Standardization as regards machinery and related products in support of Regulation (EU) 2023/1230 of the European Parliament and of the Council
• Ref Project: kSIST FprEN ISO 13482:2026 - Robotics - Safety requirements for service robots (ISO/FDIS 13482:2026)

• Consolidated By: ISO/FDIS 13482 - Robotics — Safety requirements for service robots
• Effective Date: 12-Feb-2026
• Revises: EN ISO 13482:2014 - Robots and robotic devices - Safety requirements for personal care robots (ISO 13482:2014)
• Effective Date: 18-Jan-2023

FprEN ISO 13482 is a CEN draft standard on safety requirements for service robots. It covers service robots used in personal and professional/commercial applications, and it focuses on reducing hazards from human-robot contact, motion, control functions, and the operating environment.

The document is aimed at stationary, mobile, and wearable service robots. In practice, it helps manufacturers, integrators, and buyers judge whether a robot design, control system, and user information set are suitable for safe use.

What does FprEN ISO 13482 specify?

FprEN ISO 13482 specifies safety requirements for service robots and the hazards they are intended to cover. It is limited primarily to human safety and sets out how to reduce risks to an acceptable level for the intended use.

The document applies to personal service and professional service robots, including stationary service robots, mobile service robots, and wearable robots. It excludes several robot types and application areas, including industrial robots and industrial robot applications, medical devices, toys, water-borne robots, flying robots, driverless industrial trucks, and autonomous driving Cargo e-Transporters.

The document is organized into clauses 1 to 8 and a set of annexes that support risk assessment, safety function performance, examples, and test methods.

Annex	What it covers
Annex A	List of significant hazards for service robots
Annex B	Examples of operational spaces for mobile, manipulator, and wearable robots
Annex C	Normative safety function performance requirements and risk-estimation parameters
Annex D	Examples of methods to determine PLr or required SIL
Annex E	Example of the implementation of a safeguarded space
Annex F	Examples of service robots
Annex G	Information for lifting load for wearable robots
Annex H	Example safety evaluation method for lift boarding robots
Annex I	Example safety evaluation method for braking distance
Annex ZA	Relationship with Directive 2006/42/EC

What are the key requirements of FprEN ISO 13482?

FprEN ISO 13482 is built around risk assessment, hazard reduction, and the safety-related behavior of the robot in use. The main practical message is that the manufacturer must identify the robot’s hazards, choose suitable protective measures, verify them, and document how the robot is meant to be used.

Risk assessment and hazard reduction

Clause 4.1 requires each service robot to be designed according to ISO 12100 and to undergo a risk assessment. FprEN ISO 13482 allows the robot’s limits to be split by environment, user group, or task, but the risks must also be considered when the robot operates outside the current set of limits. This matters because a robot may be safe in a restricted workplace but need different limits and safeguards in public or shared spaces.

Clause 4 follows the three-step method from ISO 12100: inherently safe design, safeguards and complementary protective measures, and information for use. That structure matters in practice because it tells you where each safety measure belongs: in the design, in the protective system, or in the instructions and warnings.

Clause 4 covers a wide range of hazards, including energy storage and supply, robot start-up and restart, electrostatic potential, robot shape, power train components, emissions, electromagnetic interference, stress and posture, robot motion, durability, autonomous decisions, awareness of robots by humans, environmental conditions, and localization and navigation. For a manufacturer, that means the safety review has to cover the whole robot lifecycle and not only collisions or emergency stop.

Wearable robots

Clause 5 adds requirements specific to wearable robots, including low-power wearable robots. FprEN ISO 13482 treats wearable robots as robots fastened to a user’s body that physically assist the user by providing supplementation or augmentation of personal capabilities.

Clause 5 addresses loss of power, start-up and restart, physical stress, vibrations, mechanical instability, collisions or intended contact, donning and doffing, cleaning and disinfection durability, assistive forces, joint injuries from motion beyond the user’s range, and unharmonized or uncoordinated motion. In practice, this means the designer must think not only about motion support, but also about how the robot behaves when it is put on, taken off, cleaned, or exposed to repeated use.

Safety-related control systems

Clause 6 defines the safety-related control system requirements. FprEN ISO 13482 ties safety function performance to severity, probability of occurrence, exposure, and possibility of avoidance or limiting harm, and Annex C links specific safety functions to PL or SIL targets.

Clause 6 covers robot stopping, emergency stop, protective stop, normal stop, braking distances, start and restart interlocking, and limits to operational spaces. This is important because the robot must not only stop safely, but also restart in a controlled way and stay inside its intended area of operation.

Clause 6 also requires safety-related speed control, environmental sensing, stability control, and force control. The practical effect is that speed, force, and workspace are not left to general programming alone - they are treated as safety functions that may need authorized adjustment, fault handling, and safe-state behavior.

Clause 6.9 to 6.11 adds singularity protection, moving a mobile robot in emergency situations, and interworking with a lift. For users, this means the robot should avoid unsafe motion near singularities, must not block evacuation routes, and must behave predictably when sharing a lift with people.

Human interface, operating modes, and cybersecurity

Clause 6.12 to 6.15 covers the user interface, manual control devices, operational modes, and cyber security and data privacy. FprEN ISO 13482 requires clear status indication, protection against unauthorized use, and controls for autonomous, manual, semi-autonomous, and maintenance modes.

This matters in practice because many service robot risks come from mode confusion, bad communication, or unauthorized access rather than from mechanics alone. The document therefore treats access privilege, stability of operation, and data privacy as part of safety.

Verification, validation, and information for use

Clause 7 requires verification and validation of the robot’s safety-related performance values after risk reduction. It lists verification methods A to H, ranging from inspection and practical tests to software examination and review of task-based risk assessment.

Clause 8 requires markings, warnings, user manuals, and service manuals. For a buyer or operator, this is the part that explains how the robot must be identified, what information must be supplied for use and maintenance, and what residual risks remain.

What terms does FprEN ISO 13482 define?

• Service robot - a robot used in personal or professional use that performs useful tasks for humans or equipment.
• Mobile service robot (MSR) - a service robot able to travel under its own control.
• Wearable robot - a service robot fastened to a user’s body during use and physically assisting the user with task performance.
• Personal service - a service context where the robot satisfies an individual’s needs and is used for and potentially operated by the beneficiary.
• Professional service - a service context where the robot satisfies one or more individuals’ or an organization’s needs and is operated by service-provider personnel.
• Safeguarded space - the space in which the robot initiates a safety-related function if a person or object is detected.
• Protective stop space - the space in which the robot performs a protective stop if a person or object enters it.

Who uses FprEN ISO 13482?

FprEN ISO 13482 is used by robot manufacturers, system integrators, service providers, and safety engineers who design or assess service robots. It is also used by quality managers, test laboratories, and buyers who need to check whether a robot’s safety concept matches the intended application.

The document is relevant across service robot applications such as guidance, delivery, inspection, security, household assistance, care support, and wearable physical assistance. It helps users define hazards, select control functions, write instructions, and plan verification and validation.

What changed in FprEN ISO 13482 from the previous edition?

FprEN ISO 13482 replaces SIST EN ISO 13482:2014.

Which standards are used with FprEN ISO 13482?

FprEN ISO 13482 depends on a broad set of normative references, including ISO 12100 for risk assessment and risk reduction, ISO 8373 for robotics vocabulary, and IEC 60204-1 for electrical equipment of machines. It also uses ISO 13849-1 and IEC 62061 for safety-related control system performance, ISO 13850 for emergency stop, ISO 14118 and ISO 14119 for preventing unexpected start-up and selecting interlocking devices, and ISO 13857 for safety distances.

Other important references include IEC 61496 for electro-sensitive protective equipment, IEC 60529 for enclosure protection, ISO 11202 and ISO 3746 for noise measurement, ISO 13732-1 and ISO 13732-3 for hot and cold surface contact, IEC 62471 and IEC 60825-1 for optical and laser safety, IEC 62133-2 and IEC 62619 for battery safety, and ISO/TS 8100-21 for lift alignment parameters.

What does the FprEN ISO 13482 document contain?

The document contains hazard lists, safety-function requirements, worked examples, and test-oriented annexes. Annex A provides a structured hazard list for service robots, and Annex B illustrates operational spaces for different robot types.

Annex C links safety functions to required performance levels or SIL and gives the parameters used in risk estimation. Annex D shows example ways to determine PLr or required SIL, while Annex E illustrates how a safeguarded space can be implemented for collision avoidance.

Annex F gives examples of mobile, stationary, and wearable service robot types. Annex G provides lifting-load information for wearable robots, Annex H shows an example method for evaluating lift boarding, and Annex I shows an example method for braking-distance testing. Annex ZA maps the standard to Directive 2006/42/EC.

SLOVENSKI STANDARD
oSIST prEN ISO 13482:2024
01-november-2024
Nadomešča:
SIST EN ISO 13482:2014
Robotika - Varnostne zahteve za storitvene robote (ISO/DIS 13482:2024)
Robotics - Safety requirements for service robots (ISO/DIS 13482:2024)
Robotik - Sicherheitsanforderungen für Serviceroboter (ISO/DIS 13482:2024)
Robotique - Exigences de sécurité pour les robots de service (ISO/DIS 13482:2024)
Ta slovenski standard je istoveten z: prEN ISO 13482
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
oSIST prEN ISO 13482:2024 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

oSIST prEN ISO 13482:2024
oSIST prEN ISO 13482:2024
DRAFT
International
Standard
ISO/DIS 13482
ISO/TC 299
Robotics — Safety requirements for
Secretariat: SIS
service robots
Voting begins on:
Robotique — Exigences de sécurité pour les robots de service
2024-08-27
Voting terminates on:
ICS: 25.040.30
2024-11-19
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENTS AND APPROVAL. IT
IS THEREFORE SUBJECT TO CHANGE
AND MAY NOT BE REFERRED TO AS AN
INTERNATIONAL STANDARD UNTIL
PUBLISHED AS SUCH.
This document is circulated as received from the committee secretariat.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
STANDARDS MAY ON OCCASION HAVE TO
ISO/CEN PARALLEL PROCESSING
BE CONSIDERED IN THE LIGHT OF THEIR
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS.
RECIPIENTS OF THIS DRAFT ARE INVITED
TO SUBMIT, WITH THEIR COMMENTS,
NOTIFICATION OF ANY RELEVANT PATENT
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION.
Reference number
ISO/DIS 13482:2024(en)
oSIST prEN ISO 13482:2024
DRAFT
ISO/DIS 13482:2024(en)
International
Standard
ISO/DIS 13482
ISO/TC 299
Robotics — Safety requirements for
Secretariat: SIS
service robots
Voting begins on:
Robotique — Exigences de sécurité pour les robots de service
ICS: 25.040.30 Voting terminates on:
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENTS AND APPROVAL. IT
IS THEREFORE SUBJECT TO CHANGE
AND MAY NOT BE REFERRED TO AS AN
INTERNATIONAL STANDARD UNTIL
PUBLISHED AS SUCH.
This document is circulated as received from the committee secretariat.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL,
© ISO 2024
TECHNOLOGICAL, COMMERCIAL AND
USER PURPOSES, DRAFT INTERNATIONAL
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
STANDARDS MAY ON OCCASION HAVE TO
ISO/CEN PARALLEL PROCESSING
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
BE CONSIDERED IN THE LIGHT OF THEIR
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
POTENTIAL TO BECOME STANDARDS TO
WHICH REFERENCE MAY BE MADE IN
or ISO’s member body in the country of the requester.
NATIONAL REGULATIONS.
ISO copyright office
RECIPIENTS OF THIS DRAFT ARE INVITED
CP 401 • Ch. de Blandonnet 8
TO SUBMIT, WITH THEIR COMMENTS,
CH-1214 Vernier, Geneva
NOTIFICATION OF ANY RELEVANT PATENT
Phone: [phone]
RIGHTS OF WHICH THEY ARE AWARE AND TO
PROVIDE SUPPORTING DOCUMENTATION.
Email: [e-mail]
Website: www.iso.org
Published in Switzerland Reference number
ISO/DIS 13482:2024(en)
ii
oSIST prEN ISO 13482:2024
ISO/DIS 13482:2024(en)
Contents Page
Foreword .vii
Introduction .viii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 3
4 General safety requirements . 9
4.1 General .9
4.2 Hazards due to energy storage and supply .10
4.2.1 Contact with hazardous energy parts .10
4.2.2 Hazards related to battery .11
4.2.3 Uncontrolled release of stored energy. 13
4.2.4 Power failure or shutdown .14
4.3 Robot start-up and restart of regular operation . 15
4.3.1 General . 15
4.3.2 Inherently safe design . 15
4.3.3 Safeguarding and complementary protective measures . 15
4.3.4 Information for use . 15
4.3.5 Verification and validation . 15
4.4 Electrostatic potential . 15
4.4.1 General . 15
4.4.2 Inherently safe design .16
4.4.3 Safeguarding and complementary protective measures .16
4.4.4 Information for use .16
4.4.5 Verification and validation .16
4.5 Hazards due to robot shape .16
4.5.1 General .16
4.5.2 Inherently safe design .16
4.5.3 Safeguarding and complementary protective measures .17
4.5.4 Information for use .17
4.5.5 Verification and validation .17
4.6 Hazards due to power train components .17
4.6.1 General .17
4.6.2 Inherently safe design .17
4.6.3 Safeguarding and complementary protective measures .18
4.6.4 Information for use .18
4.6.5 Verification and validation .18
4.7 Emissions.18
4.7.1 Noise .18
4.7.2 Substances and fluids.19
4.7.3 Extreme temperatures . . 20
4.7.4 Radiation .21
4.8 Electromagnetic interference . 22
4.8.1 General . 22
4.8.2 Inherently safe design . 22
4.8.3 Safeguarding and complementary protective measures . 22
4.8.4 Information for use . 23
4.8.5 Verification and validation . 23
4.9 Stress, posture and usage . 23
4.9.1 General . 23
4.9.2 Physical stress and posture . 23
4.9.3 Mental stress . .24
4.10 Robot motion . 25
4.10.1 General . 25
4.10.2 Mechanical stability . 25

iii
oSIST prEN ISO 13482:2024
ISO/DIS 13482:2024(en)
4.10.3 Instability during travel . 26
4.10.4 Instability while carrying loads . 28
4.10.5 Instability in case of collision . 29
4.10.6 Collisions . 30
4.10.7 Physical contact during human-robot interaction .32
4.11 Durability . 33
4.11.1 General . 33
4.11.2 Inherently safe design . 33
4.11.3 Safeguarding and complementary protective measures . 33
4.11.4 Information for use . 33
4.11.5 Verification and validation . 34
4.12 Autonomous decisions and actions . 34
4.12.1 General . 34
4.12.2 Inherently safe design . 34
4.12.3 Safeguarding and complementary protective measures . 34
4.12.4 Information for use . 35
4.12.5 Verification and validation . 35
4.13 Awareness of robots by humans . 35
4.13.1 General . 35
4.13.2 Inherently safe design . 35
4.13.3 Safeguarding and complementary protective measures . 35
4.13.4 Information for use . 36
4.13.5 Verification and validation . 36
4.14 Environmental conditions . . 36
4.14.1 General . 36
4.14.2 Inherently safe design . 36
4.14.3 Safeguarding and complementary protective measures .37
4.14.4 Information for use .37
4.14.5 Verification and validation .37
4.15 Localization and navigation . 38
4.15.1 General . 38
4.15.2 Inherently safe design . 38
4.15.3 Safeguarding and complementary protective measures . 38
4.15.4 Information for use . 38
4.15.5 Verification and validation . 38
5 Wearable robots .39
5.1 General . 39
5.2 Hazards due to loss of power supply or shutdown . 39
5.2.1 General . 39
5.2.2 Inherent safe design . 39
5.3 Robot start-up and restart of regular operation . 40
5.3.1 General . 40
5.3.2 Inherently safe design . 40
5.3.3 Safeguarding and complementary protective measures . 40
5.3.4 Information for use . 40
5.4 Hazards due to physical stress . . 40
5.4.1 General . 40
5.4.2 Inherently safe design . 40
5.4.3 Safeguarding and complementary protective measures . 40
5.4.4 Information for use .41
5.5 Hazardous vibrations .41
5.5.1 General .41
5.5.2 Inherently safe design .41
5.5.3 Safeguarding and complementary protective measures .41
5.5.4 Information for use .42
5.5.5 Verification and validation .42
5.6 Mechanical instability . .42
5.6.1 General .42

iv
oSIST prEN ISO 13482:2024
ISO/DIS 13482:2024(en)
5.6.2 Inherently safe design .42
5.6.3 Safeguarding and complementary protective measures .42
5.6.4 Information for use .42
5.7 Instability in case of collision or intended contact .43
5.7.1 General .43
5.7.2 Inherently safe design .43
5.7.3 Safeguarding and complementary protective measures .43
5.7.4 Information for use .43
5.8 Hazards during donning or doffing .43
5.8.1 General .43
5.8.2 Inherently safe design .43
5.8.3 Safeguarding and complementary protective measures .43
5.8.4 Information for use . 44
5.9 Hazards due to insufficient durability caused by cleaning and disinfection . 44
5.9.1 General . 44
5.9.2 Inherently safe design . 44
5.9.3 Information for use . 44
5.10 Hazards caused by assistive forces . 44
5.10.1 General . 44
5.10.2 Inherently safe design .45
5.10.3 Safeguarding and complementary protective measures .45
5.10.4 Information for use . 46
5.10.5 Verification and validation . 46
5.11 Joint injuries due to assistance that exceeds the range of motion .47
5.11.1 General .47
5.11.2 Inherently safe design .47
5.11.3 Safeguarding and complementary protective measures .47
5.11.4 Information for use . 48
5.11.5 Verification and validation . 48
5.12 Hazards due to unharmonized and uncoordinated motion . 49
5.12.1 General . 49
5.12.2 Inherently safe design . 49
5.12.3 Safeguarding and complementary protective measures . 49
5.12.4 Information for use . 49
5.12.5 Verification and validation . 49
6 Safety-related control system requirements .49
6.1 Required control system performance . 49
6.1.1 General . 49
6.1.2 Required control system performance . 49
6.1.3 Determining severity . 50
6.1.4 Determining probability of occurrence . 50
6.1.5 Determining possiblity of avoidance . 50
6.2 Robot stopping . 50
6.2.1 General . 50
6.2.2 Robot stopping functions.51
6.2.3 Braking .52
6.3 Start and restart interlocking . 53
6.3.1 Start interlock . 53
6.3.2 Restart interlock . 53
6.4 Limits to operational spaces . 53
6.5 Speed control . 54
6.6 Environmental sensing . 55
6.6.1 General . 55
6.6.2 Object sensing . 55
6.6.3 Travel surface sensing . 56
6.7 Stability control .57
6.8 Force control.57
6.9 Singularity protection .57

v
oSIST prEN ISO 13482:2024
ISO/DIS 13482:2024(en)
6.10 Moving robot in emergency situations .57
6.11 Interworking with a lift (an elevator) . 58
6.12 Design of user interface . 58
6.12.1 General . 58
6.12.2 Status indication .59
6.12.3 Connection and disconnection . 60
6.12.4 Single command device for multiple robots . 60
6.12.5 Multiple command devices . 60
6.12.6 Cableless or detachable command device .61
6.12.7 Protection against unauthorized use .61
6.13 Manual control devices .61
6.13.1 General .61
6.13.2 Labelling .61
6.13.3 Protection from unintended operation .61
6.14 Operational modes .62
6.14.1 General .62
6.14.2 Autonomous mode . 63
6.14.3 Manual mode . . 63
6.14.4 Semi-autonomous mode. 63
6.14.5 Maintenance mode . . . 64
6.15 Cyber security and data privacy . 64
6.15.1 General . 64
6.15.2 Measures for data privacy and data security . 65
6.15.3 Measures for cyber security managing access privilege and stability of operation . 65
7 Verification and Validation .65
8 Information for use .66
8.1 General . 66
8.2 Markings or indications.67
8.3 User manual . 69
8.4 Service manual .70
Annex A (informative) List of significant hazards for service robots .71
Annex B (informative) Examples of operational spaces for service robots.78
Annex C (normative) Safety function performance requirements .81
Annex D (informative) Example of determination of the PLr or required SIL from risk
estimation parameters of Annex C, C.2 .98
Annex E (informative) Example of the implementation of a safeguarded space .101
Annex F (informative) Examples of service robots .104
Annex G (informative) Information for lifting load .112
Annex H (informative) Example of safety evaluation methods for lift boarding robots .114
Annex I (informative) Example of safety evaluation method for braking distance.116
Annex ZA (informative) Relationship between this European Standard and the essential
requirements of Directive 2006/42/EC aimed to be covered .117
Annex ZB (informative) Relationship between this European Standard and the essential
requirements of Regulation (EU) 2023/1230 aimed to be covered .119
Bibliography .122

vi
oSIST prEN ISO 13482:2024
ISO/DIS 13482:2024(en)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO technical committees. Each member body interested in a subject for which a technical committee
has been established has the right to be represented on that committee. International organizations,
governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely
with the Internat
...