ISO/PAS 5672:2023

Robotics — Collaborative applications — Test methods for measuring forces and pressures in human-robot contacts

This document specifies methods of measuring forces and pressures in physical human-robot contacts. It also specifies methods for analyzing the measured forces and pressures. It further specifies the characteristics of pressure-force measurement devices (PFMD). This document applies to collaborative applications deployed in an industrial or service environment for professional use. This document does not apply to non-professional robots (i.e. consumer robots) or medical robots, although the measurement methods presented can be applied in these areas, if deemed appropriate. Additionally, this document does not apply to organizational aspects for performing contact measurements (e.g. responsibilities or data management), assessment of other mechanical contact types (e.g. friction or shearing), assessment of other contact-related hazards (e.g. falling, electrical or chemical hazards). Further, this document does not set requirements for specific PFMD-design or specify methods to identify contact hazards.

Robotique — Applications collaboratives — Méthodes d'essai pour mesurer les forces et les pressions dans les contacts homme-robot

General Information

• Status: Published
• Publication Date: 29-Nov-2023
• ICS: 25.040.30 - Industrial robots. Manipulators
• Technical Committee: ISO/TC 299 - Robotics
• Drafting Committee: ISO/TC 299 - Robotics
• Current Stage: 6060 - International Standard published
• Start Date: 30-Nov-2023
• Due Date: 04-Aug-2023
• Completion Date: 30-Nov-2023

Standards Content (Sample)

PUBLICLY ISO/PAS
AVAILABLE 5672
SPECIFICATION
First edition
2023-11
Robotics — Collaborative applications
— Test methods for measuring
forces and pressures in human-robot
contacts
Robotique — Applications collaboratives — Méthodes d'essai pour
mesurer les forces et les pressions dans les contacts homme-robot
Reference number
ISO/PAS 5672:2023(E)
© ISO 2023

---------------------- Page: 1 ----------------------
ISO/PAS 5672:2023(E)
COPYRIGHT PROTECTED DOCUMENT
© ISO 2023
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: [phone]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland
ii
  © ISO 2023 – All rights reserved

---------------------- Page: 2 ----------------------
ISO/PAS 5672:2023(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Overview . 2
4.1 General . 2
4.2 Contact types . 2
4.3 Contact locations . 4
5 Measuring instrument . 4
5.1 General . 4
5.2 Design parameters . 5
5.3 Calibration . 6
5.4 Sensor characteristics. 7
5.4.1 General . 7
5.4.2 Force sensors . 8
5.4.3 Pressure sensors . 8
6 Measurement methods .
...

FINAL
PUBLICLY ISO/DPAS
DRAFT
AVAILABLE 5672
SPECIFICATION
ISO/TC 299
Robotics — Collaborative applications
Secretariat: SIS
— Test methods for measuring
Voting begins on:
2023-08-07 forces and pressures in human-robot
contacts
Voting terminates on:
2023-10-02
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 SUPPOR TING
DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
Reference number
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/DPAS 5672:2023(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. © ISO 2023

---------------------- Page: 1 ----------------------
ISO/DPAS 5672:2023(E)
FINAL
PUBLICLY ISO/DPAS
DRAFT
AVAILABLE 5672
SPECIFICATION
ISO/TC 299
Robotics — Collaborative applications
Secretariat: SIS
— Test methods for measuring
Voting begins on:
forces and pressures in human-robot
contacts
Voting terminates on:
COPYRIGHT PROTECTED DOCUMENT
© ISO 2023
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.
RECIPIENTS OF THIS DRAFT ARE INVITED TO
ISO copyright office
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
CP 401 • Ch. de Blandonnet 8
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
CH-1214 Vernier, Geneva
DOCUMENTATION.
Phone: [phone]
IN ADDITION TO THEIR EVALUATION AS
Reference number
Email: [e-mail]
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO­
ISO/DPAS 5672:2023(E)
Website: www.iso.org
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
Published in Switzerland
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN­
DARDS TO WHICH REFERENCE MAY BE MADE IN
ii
  © ISO 2023 – All rights reserved
NATIONAL REGULATIONS. © ISO 2023

---------------------- Page: 2 ----------------------
ISO/DPAS 5672:2023(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Overview . 2
4.1 General . 2
4.2 Contact types . 2
4.3 Contact locations . 4
5 Measuring instrument . 4
5.1 General . 4
5.2 Design parameters .
...

tISO/DPAS 5672:2023(E)
ISO/TC 299
Secretariat: SIS
Date: 2023-07-24
Robotics — Collaborative applications — Test methods for measuring forces and pressures in
human-robot contacts
DPAS stage

Warning for WDs and CDs
This document is not an ISO International Standard. It is distributed for review and comment. It is subject to
change without notice and may not be referred to as an International Standard.
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.

---------------------- Page: 1 ----------------------
ISO/DPAS 5672:2023(E)
© ISO 2023
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: [phone]
Email: [e-mail]
Website: www.iso.orgwww.iso.org
Published in Switzerland
2 © ISO 2023 – All rights reserved
ii © ISO 2023 – All rights reserved

---------------------- Page: 2 ----------------------
ISO/DPAS 5672:2023(E)
Contents
Foreword .iv
Introduction . v
4.1 General . 2
4.2 Contact types . 3
4.3 Contact locations . 4
5.1 General . 4
5.2 Design parameters . 6
5.3 Calibration. 6
5.4 Sensor characteristics . 7
5.4.1 General . 7
5.4.2 Force sensors . 8
5.4.3 Pressure sensors . 8
6.1 General . 8
6.2 Pinch and crush . 10
6.2.1 General . 10
6.2.2 Limited space for PFMD installation . 10
6.3 Impact . 11
6.3.1 General . 11
6.3.2 PFMD with a moveable measuring unit . 11
6.3.3 Fixed PFMD and conversion technique . 12
6.4 PFMD position . 13
7.1 General . 14
7.2 Test prep
...