ISO/TR 23482-1:2020
(Main)Robotics — Application of ISO 13482 — Part 1: Safety-related test methods
Robotics — Application of ISO 13482 — Part 1: Safety-related test methods
This document describes methods that can be used to test personal care robots in terms of safety requirements defined in ISO 13482. The target robots of this document are identical to those of ISO 13482. The manufacturer determines the required tests and appropriate testing parameters based on a risk assessment of the robot's design and usage. This risk assessment can determine that tests and test parameters other than those contained in this document are acceptable. Not all test methods are applicable to all robot types. Test methods labelled "universal" are applicable to all personal care robots. For other tests, the heading states for which robot types the test can be applied (e.g. "for wearable robot" or "for mobile robot"). Some test methods can be replaced by using other applicable standards, even if they are not listed in this document.
Robotique — Application de l'ISO 13482 — Partie 1: Méthodes d'essai liées à la sécurité
General Information
Standards Content (Sample)
TECHNICAL ISO/TR
REPORT 23482-1
First edition
2020-02
Robotics — Application of ISO 13482 —
Part 1:
Safety-related test methods
Robotique — Application de l'ISO 13482 —
Partie 1: Méthodes d'essai liées à la sécurité
Reference number
©
ISO 2020
© ISO 2020
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Fax: +41 22 749 09 47
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2020 – All rights reserved
Contents Page
Foreword .vi
Introduction .vii
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Test conditions . 2
4.1 General . 2
4.2 Environmental conditions . 2
4.3 Test travel surface . 2
4.4 Safety of persons involved in testing . 3
4.4.1 General. 3
4.4.2 Safety harness . 3
5 Selection of test sample . 4
6 Test of physical hazard characteristics (universal) . 4
6.1 Voltage at user-accessible parts . 4
6.1.1 Principle . 4
6.1.2 Apparatus . 5
6.1.3 Procedure . 5
6.2 Acoustic noise . 6
6.2.1 Principle . 6
6.2.2 Apparatus . 6
6.2.3 Procedure . 6
6.2.4 Pass/fail criteria . 7
6.3 Surface temperature . 7
6.3.1 Principle . 7
6.3.2 Apparatus . 8
6.3.3 Procedure . 8
6.3.4 Pass/fail criteria . 9
7 Test of physical hazard characteristics (for mobile robot) . 9
7.1 Injury parameters in collision. 9
7.1.1 Principle . 9
7.1.2 Apparatus .10
7.1.3 Procedure .10
7.1.4 Pass/fail criteria .11
7.2 Test of force control for intended and unintended contact with a robot .11
7.2.1 Principle .11
7.2.2 Apparatus .12
7.2.3 Procedure .12
7.2.4 Pass/fail criteria .13
8 Test of physical hazard characteristics (for restraint type physical assistant robot) .13
8.1 Principle .13
8.2 Apparatus .14
8.3 Procedure .16
8.4 Pass/fail criteria .17
9 Test of endurance characteristics (universal) .18
9.1 Endurance to environmental temperature/humidity fluctuations and vibration
combined with these fluctuations .18
9.1.1 General.18
9.1.2 Temperature/humidity test .18
9.1.3 Sealing test .19
9.1.4 Robustness test .19
9.1.5 Pressure test .19
9.1.6 Pass/fail criteria .20
9.2 Durability in locomotion (mobile robot) .20
9.2.1 Principle .20
9.2.2 Apparatus .20
9.2.3 Procedure .22
9.2.4 Pass/fail criteria .22
10 Test of endurance characteristics (for mobile robot) .22
10.1 Endurance to collision impact .22
10.1.1 Principle .22
10.1.2 Apparatus and procedure .23
11 Test of static stability characteristics .23
11.1 Principle .23
11.2 Apparatus .23
11.3 Procedure .23
11.4 Pass/fail criteria .24
12 Test of dynamic stability characteristics with respect to moving parts (for mobile robot) 24
12.1 Principle .24
12.2 Apparatus .24
12.3 Procedure .24
13 Test of dynamic stability characteristics with respect to travel (for mobile robot) .25
13.1 General .25
13.1.1 Principle .25
13.1.2 Apparatus .25
13.1.3 Procedure .25
13.2 Stability test on a flat surface .26
13.2.1 Braking test on split surface .26
13.2.2 Acceleration test on split surface.26
13.2.3 Acceleration test from stationary condition .26
13.3 Stability test on inclined surface .27
13.3.1 General.27
13.3.2 Maximum speed test on downward slope .27
13.3.3 Downward slope acceleration and braking test .28
13.3.4 Upward slope acceleration test .29
13.3.5 Downward slope full turn test .30
13.3.6 Inclined surface crossing test .31
13.3.7 Pivot turn on inclined surface test .32
13.4 Stability test for steps and gaps .32
13.4.1 General.32
13.4.2 Moving upward from stop position .32
13.4.3 Moving up at maximum speed .33
13.4.4 Moving up while accelerating .33
13.4.5 Descending step at low speed .34
13.4.6 Descending step at maximum speed .34
13.4.7 Gap crossing test .35
13.5 Pass/fail criteria .36
14 Test of safety-related control functions (universal) .37
14.1 Test of integration of electro-sensitive protective equipment (ESPE) .37
14.1.1 Principle .37
14.1.2 Sampling.37
14.1.3 Apparatus .37
14.1.4 Procedure .38
14.2 Test of operation in slippery environments .39
14.2.1 Principle .39
14.2.2 Apparatus and procedure .40
14.3 Electromagnetic immunity .40
iv © ISO 2020 – All rights reserved
14.3.1 Principle .40
14.3.2 Apparatus .40
14.3.3 Procedure .40
15 Response to safety-related obstacles on the ground (for mobile robot) .41
15.1 Distance of protective stop .41
15.1.1 Principle .41
15.1.2 Apparatus .41
15.1.3 Procedure .43
15.2 Distance and speed in safety-related speed control .44
15.2.1 Principle .44
15.2.2 Apparatus and procedure .45
15.3 Distance of stopping before convex terrain .45
15.3.1 Principle .45
15.3.2 Apparatus .45
15.3.3 Procedure .45
15.4 Distance of stopping before concave terrain .47
15.4.1 Principle .47
15.4.2 Apparatus .47
15.4.3 Procedure .48
16 Test of safety-related localization and navigation .50
16.1 Principle .50
16.2 Apparatus .50
16.3 Procedure .51
17 Test of reliability of autonomous decisions and actions (universal) .51
17.1 General .51
17.2 Object identification .52
17.2.1 Principle .52
17.2.2 Apparatus .52
17.2.3 Procedure .52
18 Command devices (universal) .52
18.1 Safe operation in case of connection, disconnection or reconnection of a command
device .52
18.1.1 Principle .52
18.1.2 Apparatus .52
18.1.3 Procedure .53
18.2 Response to multiple or unintended command devices .53
18.2.1 Principle .53
18.2.2 Apparatus .53
18.2.3 Procedure .53
18.3 Safe operation in case of loss of communication by cableless or detachable
command devices .53
18.3.1 Principle .53
18.3.2 Apparatus .54
18.3.3 Procedure .54
19 Test report .54
Annex A (informative) Information for evaluating test results .55
Annex B (informative) Mechanical characteristics of the artificial hypodermis and underneath.66
Annex C (informative) Dummy for driverless tests of self-balancing person carrier robot .68
Annex D (informative) Examples of the test report format .70
Annex E (informative) Measurement test and damage observation on surrogate skin piece: .74
Bibliography .76
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 International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/ directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www .iso .org/ patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to the
World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT) see www .iso .org/
iso/ foreword .html.
This document was prepared by Technical Committee ISO/TC 299, Robotics.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www .iso .org/ members .html.
vi © ISO 2020 – All rights reserved
Introduction
This document describes test methods used to verify safety criteria of personal care robots. This
document is intended to facilitate ISO 13482, which summarizes the safety requirements of personal
care robots. This document describes test methods which are guidelines to verify compliance to the
requirements of ISO 13482. Together with the other verification and validation methods described in
ISO 13482, they are selectively applicable according to the robot design and usage.
At the time of publication, the test methods described in this document have not been implemented or
evaluated broadly. Due to a lack of test facilities worldwide able to conduct such tests, it has not been
possible to conduct formal round robin tests. Users of this document are therefore advised to apply the
tests with care.
TECHNICAL REPORT ISO/TR 23482-1:2020(E)
Robotics — Application of ISO 13482 —
Part 1:
Safety-related test methods
1 Scope
This document describes methods that can be used to test personal care robots in terms of safety
requirements defined in ISO 13482. The target robots of this document are identical to those of
ISO 13482.
The manufacturer determines the required tests and appropriate testing parameters based on a risk
assessment of the robot’s design and usage. This risk assessment can determine that tests and test
parameters other than those contained in this document are acceptable.
Not all test methods are applicable to all robot types. Test methods labelled “universal” are applicable
to all personal care robots. For other tests, the heading states for which robot types the test can be
applied (e.g. “for wearable robot” or “for mobile robot”).
Some test methods can be replaced by using other applicable standards, even if they are not listed in
this document.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 13482:2014, Robots and robotic devices — Safety requirements for personal care robots
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 13482:2014 and the
following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org/
3.1
autonomy
ability to perform intended tasks based on current state and sensing, without human intervention
[SOURCE: ISO 8373:2012, 2.2]
3.2
operator
person designated to make parameter and program changes, and to start, monitor, and stop the
intended operation of the personal care robot
[SOURCE: ISO 8373:2012, 2.17, modified — The words “to make parameter and program changes, and”
have been added, and the words “of a robot or robot system” have been replaced with “of the personal
care robot”.]
3.3
electro-sensitive protective equipment
ESPE
assembly of devices and/or components working together for protective tripping or presence-sensing
purposes and comprising at a minimum
— a sensing device,
— controlling/monitoring devices,
— output signal switching devices and/or a safety-related data interface
Note 1 to entry: The safety-related control system associated with the ESPE, or the ESPE itself, can further
include a secondary switching device, muting functions, stopping performance monitor, etc.
Note 2 to entry: A safety-related communication interface can be integrated in the same enclosure as the ESPE.
[SOURCE: ISO 13855:2010, 3.1.4, modified — The words “and/or a safety-related data interface” have
been added, and the original Note has been replaced with Notes 1 and 2 to entry.]
4 Test conditions
4.1 General
This clause describes typical operating conditions for indoor use. Where applicable, tests are carried
out under the worst-case operating conditions.
Unless specified differently, the robot is completely assembled, fully charged, and operational based on
the manufacturer’s specification for all tests. All self-diagnostic tests are satisfactorily completed.
4.2 Environmental conditions
The following environmental conditions apply during all tests:
— ambient temperature: 10 °C to 30 °C;
— relative humidity: 0 % to 80 %.
If the environmental conditions specified by the manufacturer are outside the given conditions, this is
declared within the test report.
4.3 Test travel surface
The coefficient of friction for test travel surface is between 0,75 and 1,0 (see ISO 7176-13) unless
specified otherwise by the manufacturer.
2 © ISO 2020 – All rights reserved
4.4 Safety of persons involved in testing
4.4.1 General
During the preparation and conduction of verification and validation tests, the persons involved in
testing are protected as far as possible from any risk originating from the robot and the test apparatus.
Special attention is paid when tests provoke hazardous situations such as collisions and instability.
Where possible, tests are conducted remotely with no person near the robot. Human presence and
intervention are simulated where applicable by using dummies.
Where a human tester cannot be replaced by a dummy or by an automated device, a risk assessment
is performed to identify the hazards that can occur during the test. Where necessary, test persons are
advised to wear protective equipment to lower risks from collision and falling.
4.4.2 Safety harness
The test operator of a person carrier robot and physical assistant robot is exposed to hazards of falling
down. Therefore, in addition to conventional safety apparatus such as helmets, kneepads and elbow
pads, the test operator is secured by a safety harness suspended from a supporting structure over the
test travel surface if the expected risk is not tolerable (Figure 1).
Key
1 safety jacket
Figure 1 — Example of safety harness
The safety harness has sufficient reliability, equivalent to harnesses used for fall protection. The cable
connected to the supporting structure has sufficient elasticity. Additionally, its length is adjusted to
prevent the test operator from falling to the travel surface. The supporting upper structure can be a
rigid rail or a flexible wire on which a pulley block runs. The pulley block can be powered to follow the
test operator’s movement. (Figure 2)
NOTE ISO 16024 specifies design and performance of personal protective equipment for protection against
falls from a height.
Key
1 movement device
2 guide rail
3 test travel surface
Figure 2 — Example of supporting upper structure and pulley block
5 Selection of test sample
The sample item, either a robot system or a robot component, is representative of the target design.
NOTE 1 If the sample item is broken, it is repaired or replaced between test sequences.
NOTE 2 Some functions of the sample can be intentionally disabled or tuned when the test demands irregular
conditions, e.g. an obstacle detection sensor in a mobile-type robot is disconnected in a collision impact test.
6 Test of physical hazard characteristics (universal)
6.1 Voltage at user-accessible parts
6.1.1 Principle
This test measures voltages supplied at user-accessible parts in order to verify designs protecting
against “contact with live parts of the robot” (see ISO 13482:2014, 5.3.1.1).
This test is applicable to all robots that are operated by electrical power.
The test consists of two steps:
a) examining accessible parts, and
b) measuring the supplied voltage in the accessible parts.
The test uses three different apparatuses:
— test fingers,
— a load cell or force limiter attached to the test fingers, and
— a voltmeter.
4 © ISO 2020 – All rights reserved
This test is conducted once for a new robot and once for a test sample that has been in operation for
a number of use cycles representative for the lifetime of the robot. The used test sample is carefully
examined for signs of wear, which can have one of the following effects:
— breaking of cables that lead to parts becoming live,
— breaking of guards that lead to more parts becoming accessible.
Where other tests described in this document lead to severe damage of the robot or some of its parts
(e.g. collision tests), it is advisable to repeat this test if new hazards might have formed then.
6.1.2 Apparatus
a) Test finger (test probe code according to IEC 61032)
A jointed type probe (probe code B), an unjointed type probe (probe code 11) and a small-diameter
jointed type probe if the test is necessary with regards to children (probe code 18 or 19).
b) Load cell or customized jig tool
A load cell able to measure compression force or a jig tool, such as a limiter, that can be removed
when applying a specified compression force.
c) Voltmeter
6.1.3 Procedure
a) Survey of accessible parts
The accessible parts of conductive areas are identified with the following procedure. These are
user-accessible parts on the robot. They can be accessible during normal use or during maintenance
and inspection, etc. (The scope of maintenance and inspection work by the user is specified by the
manufacturer in the user manual.)
1) Opening covers and doors that can be opened without tools, keys, etc.
2) Visual inspection of the accessible area
3) Identification of accessibility by a jointed test finger. The test finger is applied with a force not
exceeding 1 N to openings of the robot. Through openings, the test finger is applied to any
depth that the test finger will permit and is rotated or angled before, during and after insertion
to any position. If the opening does not allow the entry of the test finger, the force on the test
finger in the straight position is increased to 20 N. If the test finger then enters the opening, the
test is repeated with the test finger in the angled position.
Where necessary, the unjointed test finger is used and a force of 10 N ± 1 N or a higher, if specified
by the manufacturer, is applied.
b) Measuring electrical potential
A voltage between an accessible part judged in a) and a reference point is measured under normal
operating condition of the robot with power on (during operation, if necessary). The reference
point of electrical potential is the protective earthing point or an equipotential point if the robot
is equipped with a protective earthing system, or otherwise the functional earthing point or an
equipotential point or the potential point of the power source’s negative terminal. At locations of
electric potential, the standard resistance of 2 kΩ or, if operation under high humidity is anticipated,
a resistance of 500 Ω is applied between the reference points. The electrical current through this
resistance or the voltage is measured.
If the operational mode influences which robot parts become live, the measurement is performed
for each potentially harmful operational mode.
c) Report of test data
Results are recorded through with the diagram or photo of the tested area.
6.2 Acoustic noise
6.2.1 Principle
This test measures the maximum sound level of acoustic noise that is transmitted to a human passing
by at a 1 m distance, as well as noise transmitted to a person onboard/user wearing the robot, in order
to verify designs protecting against “hazardous noise” (see ISO 13482:2014, 5.7.1.1).
This test is applicable to all robots generating sound.
The test consists of three steps:
a) programming a travel pattern,
b) measuring pass-by noise, and
c) measuring noise while riding/wearing (if applicable) using sound level meters.
The measurement employs A-weighted sound pressure level. Allowable background noise is not
necessarily elimina
...
Questions, Comments and Discussion
Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.
Loading comments...