In recent years, safety issues surrounding robots have increased in importance, as more robots are in close contact with humans, both in industrial fields and elsewhere. Safety standards for industrial robots operating in specific spaces have been established, but no such standards have been specified for collaborative and service robots. To establish safety standards for such robots, we assessed pressure pain thresholds for collisions between humans and robots, under the assumption that the pain threshold is lower than the mild injury threshold. The pressure pain threshold for collision with a robot was measured in 90 male Korean adults using a homemade collision system. The pain thresholds were measured three times at 15 sites, including the forehead. The highest threshold was 196.1 ± 85.8 N/cm² at the back of the hand, and the lowest was 65.1 ± 22.6 N/cm² at an arm nerve. Moderate thresholds, i.e., 100–120 N/cm², were noted on the forehead, neck muscle, ball of the thumb, and shin. The thresholds of participants < 30 years of age were lower, by 3–33%, than those of participants aged > 30 years. Thresholds differed by body mass index only at certain sites, including the shoulder joint, neck, and back of the hand. The pressure pain threshold depended on individual characteristics, body site, and age. The threshold relevant to potential human-robot collisions was determined to be between 65.1 ± 22.6 and 196.1 ± 85.8 N/cm².

With the development of robot technology, robot utilization is expanding in industrial fields and everyday life. To employ robots in various fields wherein humans and robots share the same space, human safety must be guaranteed in the event of a human–robot collision. Therefore, criteria and limitations of safety need to be defined and well clarified. In this study, we induced mechanical pain in humans through quasi-static contact by an algometric device (at 29 parts of the human body). A manual apparatus was developed to induce and monitor a force and pressure. Forty healthy men participated voluntarily in the study. Physical quantities were classified based on pain onset and maximum bearable pain. The overall results derived from the trials pertained to the subjective concept of pain, which led to considerable inter-individual variation in the onset and threshold of pain. Based on the results, a quasi-static contact pain evaluation method was established, and biomechanical safety limitations on forces and pressures were formulated. The pain threshold attributed to quasi-static contact can serve as a safety standard for the robots employed.

Red ginseng contains components, including microelements, vitamins, essential oils, and fatty acids, that can be used in skincare to delay the aging process. We investigated the effects of red ginseng treatment on skin elasticity by assessing cellular stiffness and measuring collagen protein synthesis. Human dermal fibroblasts were treated with red ginseng, and the resulting changes in stiffness were investigated using atomic force microscopy. Cytoskeletal changes and mRNA expression of biomarkers of aging, including that of procollagens I and VII, elastin, and fibrillin-1, were investigated. Collagen in a human skin equivalent treated with red ginseng was visualized via hematoxylin and eosin staining, scanning electron microscopy, and atomic force microscopy. The stiffness of fibroblasts was significantly reduced by treatment with red ginseng concentrations of ≥ 0.8 mg/mL. The ratio of F-actin to G-actin decreased after treatment, which corresponded to a change in fibroblast stiffness. The storage modulus (G′) and loss modulus (G″) of the skin equivalent were both lowered by red ginseng treatment. This result indicates that the viscoelasticity of the skin equivalent can be restored by red ginseng treatment.

Over the last few years, the robotics technology has rapidly evolved in terms of the safety enhancement. With the improvement the collaborative operation between the industrial robot and the human is now an appealing viable option. As the collaboration between the human and robot becomes more frequent, the requirement for the safety of the human in the case of collision with the robot draws much more attention. From this point of view, lot of research about the collision safety of the human has been reported recently. Most of them, however, are focused on the severe collision cases of the fatal injury. Which is mainly due to the lack of the analysis data for the minor injury. In this paper, the skin injury that is defined as a minor injury is analyzed with experimental data. Based on the analysis result, the acceptable impact (collision) condition for the robot is estimated.