Active safety functions for industrial lower body exoskeletons: Concept and assessment

Exoskeleton technology can assist human effort performing manual handling tasks in industrial environments. Safety is vital both for the commercial and legal acceptance of industrial exoskeletons. We consider such systems as safety critical as they directly involve humans. Active safety functions can enhance the safety of exoskeletons and prevent accidents and injuries. We present the conceptual and evaluation criteria for Fall Detection, Active Balancing, Active Detachment, Collision Detection and Automatic Motor Braking. This evaluation highlights the safety critical scenarios which can be helpful in future hazard and risk assessment of exoskeletons, and also for safety certification evaluation.