A Step Towards a Finite Element Model for an Impact Situation in Human-Robot Interaction

To analyze the influence of different parameters on the contact force and pressure during a collision in human-robot interaction, an extensive experimental effort is required, which increases exponentially with the number of parameters. To reduce this effort, simulation models can be used that allow a large number of parameters to be included in the analysis. In this work, we have developed a finite element model of a biofidel measuring device representing the human hand in a collision. The robot is modeled as a point mass representing the effective mass. The model was validated using real-world experiments and for model optimization, a parameter study was conducted to determine the model parameters that have the greatest effect on the contact force. The model achieved good convergence for velocities in the interval of \([40;115] \frac{{\text {mm}}}{{\text {s}}}\) . In follow-up work, drop tests are performed and, in addition, the model will be validated using contact pressure as a result.