Sensor-enabled safety systems for human-robot collaboration: A review

Constantin Scholz; Hoang-Long Cao; Emil Imrith; Nima Roshandel; Hamed Firouzipouyaei; Aleksander Burkiewicz; Milan Amighi; Sébastien Menet; Dylan  Warawout  Sisavath; Antonio Paolillo; Xavier Rottenberg; Peter Gerets; David Cheyns; Marcus Dahlem; Ilja Ocket; Jan Genoe; Kathleen Philips; Ben Stoffelen; Jeroen van den Bosch; Steven Latre; Bram Vanderborght

doi:10.1109/JSEN.2024.3496905

Sensor-enabled safety systems for human-robot collaboration: A review

Constantin Scholz, Hoang-Long Cao, Emil Imrith, Nima Roshandel, Hamed Firouzipouyaei, Aleksander Burkiewicz, Milan Amighi, Sébastien Menet, Dylan Warawout Sisavath, Antonio Paolillo, Xavier Rottenberg, Peter Gerets, David Cheyns, Marcus Dahlem, Ilja Ocket, Jan Genoe, Kathleen Philips, Ben Stoffelen, Jeroen van den Bosch, Steven LatreBram Vanderborght

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

Sensors are integrated into collaborative robot systems to ensure the safety of human workers by allowing them to perceive their environments, detect human presence, and adjust their actions accordingly. This PRISMA scoping review focuses on current sensor-enabled safety systems for human-robot collaboration in the manufacturing industry based on both scientific papers and patents. From the initial search of 6669 references, 281 underwent full-text review and segmentation based on sensor technology, installation location, and safety operating mode according to the ISO/TS 15066 standard. In the last decade, there has been a clear trend of increasing sensor-enabled safety systems. The dominant sensors used are infrared-structured light, capacitive, LiDAR, resistive, stereo/depth camera, RaDAR, and laser scanners. The primary safety operating mode identified was Speed and Separation Monitoring (SSM). Some systems integrate multiple sensor types, with the most common combinations being LiDAR with stereo cameras or LiDAR with capacitive sensors, and laser scanners with RaDAR. We suggest multi-sensor integration and standardized benchmarks for future development. This review is among the few that employ the PRISMA protocol to study sensor technologies and contribute to a more systematic understanding of the current state of the art in this area.

Original language	English
Pages (from-to)	65-88
Number of pages <span style="color:red"p> <font size="1.5"> ✽ </span> </font>	24
Journal	IEEE Sensors Journal
Volume	25
Issue number	1
DOIs	https://doi.org/10.1109/JSEN.2024.3496905
Publication status	Published - 19 Nov 2024

Bibliographical note

Funding Information:
This work was funded by the imec SAFEBOT program, European Commission Horizon 2020 Research and Innovation Program as part of the project SOPHIA grant no. 871237 and the project euROBIN grant no. 101070596 and the Skinaxis project funded by Flanders Innovation & Entrepreneurship (VLAIO). C. Scholz. H.L. Cao, E. Imrith, N. Roshandel, H. Firouzipouyaei, A. Burkiewicz, M. Amighi, S. Menet, D. Sisavath and B. Vanderborght are with BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, Belgium (e-mail: [email protected]). A. Paolillo is with the SOFT Languages Lab, Vrije Universiteit Brussel N. Roshandel, J. Genoe and J. van den Bosch are with KU Leuven C. Scholz, N. Roshandel, H. Firouzipouyaei, A. Burkiewicz, M. Amighi, S. Menet, D. Sisavath, X. Rottenberg, P. Gerets, D. Cheyns, M. Dahlem, I. Ocket, J. Genoe, K. Philips, B.Stoffelen and J. van den Bosch, S. Latre and B. Vanderborght are with imec H.L. Cao is with Flanders Make S. Latre is with Universiteit Antwerpen X. Rottenberg is with Universit\u00E9 Libre de Bruxelles

Publisher Copyright:
© 2001-2012 IEEE.

Keywords

collaborative robots, human-robot collaboration, sensors, safety systems, perception systems industry 5.0

Access to Document

10.1109/JSEN.2024.3496905

Cite this

Scholz, C., Cao, H-L., Imrith, E., Roshandel, N., Firouzipouyaei, H., Burkiewicz, A., Amighi, M., Menet, S., Warawout Sisavath, D., Paolillo, A., Rottenberg, X., Gerets, P., Cheyns, D., Dahlem, M., Ocket, I., Genoe, J., Philips, K., Stoffelen, B., Bosch, J. V. D., ... Vanderborght, B. (2024). Sensor-enabled safety systems for human-robot collaboration: A review. IEEE Sensors Journal, 25(1), 65-88. https://doi.org/10.1109/JSEN.2024.3496905

Scholz, Constantin ; Cao, Hoang-Long ; Imrith, Emil ; Roshandel, Nima ; Firouzipouyaei, Hamed ; Burkiewicz, Aleksander ; Amighi, Milan ; Menet, Sébastien ; Warawout Sisavath, Dylan ; Paolillo, Antonio ; Rottenberg, Xavier ; Gerets, Peter ; Cheyns, David ; Dahlem, Marcus ; Ocket, Ilja ; Genoe, Jan ; Philips, Kathleen ; Stoffelen, Ben ; Bosch, Jeroen van den ; Latre, Steven ; Vanderborght, Bram. / Sensor-enabled safety systems for human-robot collaboration: A review. In: IEEE Sensors Journal. 2024 ; Vol. 25, No. 1. pp. 65-88.

@article{81d4bad0b0944a85b2c03fa06a23b252,

title = "Sensor-enabled safety systems for human-robot collaboration: A review",

abstract = "Sensors are integrated into collaborative robot systems to ensure the safety of human workers by allowing them to perceive their environments, detect human presence, and adjust their actions accordingly. This PRISMA scoping review focuses on current sensor-enabled safety systems for human-robot collaboration in the manufacturing industry based on both scientific papers and patents. From the initial search of 6669 references, 281 underwent full-text review and segmentation based on sensor technology, installation location, and safety operating mode according to the ISO/TS 15066 standard. In the last decade, there has been a clear trend of increasing sensor-enabled safety systems. The dominant sensors used are infrared-structured light, capacitive, LiDAR, resistive, stereo/depth camera, RaDAR, and laser scanners. The primary safety operating mode identified was Speed and Separation Monitoring (SSM). Some systems integrate multiple sensor types, with the most common combinations being LiDAR with stereo cameras or LiDAR with capacitive sensors, and laser scanners with RaDAR. We suggest multi-sensor integration and standardized benchmarks for future development. This review is among the few that employ the PRISMA protocol to study sensor technologies and contribute to a more systematic understanding of the current state of the art in this area.",

keywords = "collaborative robots, human-robot collaboration, sensors, safety systems, perception systems industry 5.0",

author = "Constantin Scholz and Hoang-Long Cao and Emil Imrith and Nima Roshandel and Hamed Firouzipouyaei and Aleksander Burkiewicz and Milan Amighi and S{\'e}bastien Menet and {Warawout Sisavath}, Dylan and Antonio Paolillo and Xavier Rottenberg and Peter Gerets and David Cheyns and Marcus Dahlem and Ilja Ocket and Jan Genoe and Kathleen Philips and Ben Stoffelen and Bosch, {Jeroen van den} and Steven Latre and Bram Vanderborght",

note = "Funding Information: This work was funded by the imec SAFEBOT program, European Commission Horizon 2020 Research and Innovation Program as part of the project SOPHIA grant no. 871237 and the project euROBIN grant no. 101070596 and the Skinaxis project funded by Flanders Innovation & Entrepreneurship (VLAIO). C. Scholz. H.L. Cao, E. Imrith, N. Roshandel, H. Firouzipouyaei, A. Burkiewicz, M. Amighi, S. Menet, D. Sisavath and B. Vanderborght are with BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, Belgium (e-mail: [email protected]). A. Paolillo is with the SOFT Languages Lab, Vrije Universiteit Brussel N. Roshandel, J. Genoe and J. van den Bosch are with KU Leuven C. Scholz, N. Roshandel, H. Firouzipouyaei, A. Burkiewicz, M. Amighi, S. Menet, D. Sisavath, X. Rottenberg, P. Gerets, D. Cheyns, M. Dahlem, I. Ocket, J. Genoe, K. Philips, B.Stoffelen and J. van den Bosch, S. Latre and B. Vanderborght are with imec H.L. Cao is with Flanders Make S. Latre is with Universiteit Antwerpen X. Rottenberg is with Universit\u00E9 Libre de Bruxelles Publisher Copyright: {\textcopyright} 2001-2012 IEEE.",

year = "2024",

month = nov,

day = "19",

doi = "10.1109/JSEN.2024.3496905",

language = "English",

volume = "25",

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Scholz, C , Cao, H-L, Imrith, E, Roshandel, N , Firouzipouyaei, H , Burkiewicz, A , Amighi, M , Menet, S, Warawout Sisavath, D, Paolillo, A, Rottenberg, X, Gerets, P, Cheyns, D, Dahlem, M, Ocket, I, Genoe, J, Philips, K, Stoffelen, B, Bosch, JVD, Latre, S & Vanderborght, B 2024, 'Sensor-enabled safety systems for human-robot collaboration: A review', IEEE Sensors Journal, vol. 25, no. 1, pp. 65-88. https://doi.org/10.1109/JSEN.2024.3496905

Sensor-enabled safety systems for human-robot collaboration: A review. / Scholz, Constantin ; Cao, Hoang-Long; Imrith, Emil; Roshandel, Nima ; Firouzipouyaei, Hamed ; Burkiewicz, Aleksander ; Amighi, Milan ; Menet, Sébastien; Warawout Sisavath, Dylan ; Paolillo, Antonio; Rottenberg, Xavier; Gerets, Peter; Cheyns, David; Dahlem, Marcus; Ocket, Ilja; Genoe, Jan; Philips, Kathleen; Stoffelen, Ben; Bosch, Jeroen van den; Latre, Steven; Vanderborght, Bram.

In: IEEE Sensors Journal, Vol. 25, No. 1, 19.11.2024, p. 65-88.

Research output: Contribution to journal › Article › peer-review

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AU - Scholz, Constantin

AU - Cao, Hoang-Long

AU - Imrith, Emil

AU - Roshandel, Nima

AU - Firouzipouyaei, Hamed

AU - Burkiewicz, Aleksander

AU - Amighi, Milan

AU - Menet, Sébastien

AU - Warawout Sisavath, Dylan

AU - Paolillo, Antonio

AU - Rottenberg, Xavier

AU - Gerets, Peter

AU - Cheyns, David

AU - Dahlem, Marcus

AU - Ocket, Ilja

AU - Genoe, Jan

AU - Philips, Kathleen

AU - Stoffelen, Ben

AU - Bosch, Jeroen van den

AU - Latre, Steven

AU - Vanderborght, Bram

N1 - Funding Information: This work was funded by the imec SAFEBOT program, European Commission Horizon 2020 Research and Innovation Program as part of the project SOPHIA grant no. 871237 and the project euROBIN grant no. 101070596 and the Skinaxis project funded by Flanders Innovation & Entrepreneurship (VLAIO). C. Scholz. H.L. Cao, E. Imrith, N. Roshandel, H. Firouzipouyaei, A. Burkiewicz, M. Amighi, S. Menet, D. Sisavath and B. Vanderborght are with BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, Belgium (e-mail: [email protected]). A. Paolillo is with the SOFT Languages Lab, Vrije Universiteit Brussel N. Roshandel, J. Genoe and J. van den Bosch are with KU Leuven C. Scholz, N. Roshandel, H. Firouzipouyaei, A. Burkiewicz, M. Amighi, S. Menet, D. Sisavath, X. Rottenberg, P. Gerets, D. Cheyns, M. Dahlem, I. Ocket, J. Genoe, K. Philips, B.Stoffelen and J. van den Bosch, S. Latre and B. Vanderborght are with imec H.L. Cao is with Flanders Make S. Latre is with Universiteit Antwerpen X. Rottenberg is with Universit\u00E9 Libre de Bruxelles Publisher Copyright: © 2001-2012 IEEE.

PY - 2024/11/19

Y1 - 2024/11/19

N2 - Sensors are integrated into collaborative robot systems to ensure the safety of human workers by allowing them to perceive their environments, detect human presence, and adjust their actions accordingly. This PRISMA scoping review focuses on current sensor-enabled safety systems for human-robot collaboration in the manufacturing industry based on both scientific papers and patents. From the initial search of 6669 references, 281 underwent full-text review and segmentation based on sensor technology, installation location, and safety operating mode according to the ISO/TS 15066 standard. In the last decade, there has been a clear trend of increasing sensor-enabled safety systems. The dominant sensors used are infrared-structured light, capacitive, LiDAR, resistive, stereo/depth camera, RaDAR, and laser scanners. The primary safety operating mode identified was Speed and Separation Monitoring (SSM). Some systems integrate multiple sensor types, with the most common combinations being LiDAR with stereo cameras or LiDAR with capacitive sensors, and laser scanners with RaDAR. We suggest multi-sensor integration and standardized benchmarks for future development. This review is among the few that employ the PRISMA protocol to study sensor technologies and contribute to a more systematic understanding of the current state of the art in this area.

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Sensor-enabled safety systems for human-robot collaboration: A review

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

OZR4204: SAFEBOT: Development of an on-robot safety system to enable safe human-robot interaction - Caroline Pauwels Schrijfmandaat Aleksander Burkiewicz

EUAR21: H2020: SOPHIA - Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production

Sensor-enabled safety systems for human-robot collaboration: A PRISMA review

Cite this

Sensor-enabled safety systems for human-robot collaboration: A review

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

Projects

OZR4204: SAFEBOT: Development of an on-robot safety system to enable safe human-robot interaction - Caroline Pauwels Schrijfmandaat Aleksander Burkiewicz

EUAR21: H2020: SOPHIA - Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production

Datasets

Sensor-enabled safety systems for human-robot collaboration: A PRISMA review

Cite this