AUTHOR=Bdiwi Mohamad , Al Naser Ibrahim , Halim Jayanto , Bauer Sophie , Eichler Paul , Ihlenfeldt Steffen TITLE=Towards safety4.0: A novel approach for flexible human-robot-interaction based on safety-related dynamic finite-state machine with multilayer operation modes JOURNAL=Frontiers in Robotics and AI VOLUME=9 YEAR=2022 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2022.1002226 DOI=10.3389/frobt.2022.1002226 ISSN=2296-9144 ABSTRACT=

In the era of Industry 4.0 and agile manufacturing, the conventional methodologies for risk assessment, risk reduction, and safety procedures may not fulfill the End-User requirements, especially the SMEs with their product diversity and changeable production lines and processes. This work proposes a novel approach for planning and implementing safe and flexible Human-Robot-Interaction (HRI) workspaces using multilayer HRI operation modes. The collaborative operation modes are grouped in different clusters and categorized at various levels systematically. In addition to that, this work proposes a safety-related finite-state machine for describing the transitions between these modes dynamically and properly. The proposed approach is integrated into a new dynamic risk assessment tool as a promising solution toward a new safety horizon in line with industry 4.0.