ID : 7496

Biomechanical Limits

The following table summarizes quantitative maximum values of quasi-static contact and transient contact between a person and a robot.

The description is excerpted from A.3.2 of ISO/TS 15066 : 2016.

For details, refer to ISO/TS 15066.

Body region Specific body area Quasi-static contact Transient contact
Maximum permissible pressure Ps [N/cm²] Maximum permissible force [N] Maximum permissible pressure multiplier Pt Maximum permissible force multiplier Ft
Skull and forehead Middle of forehead 130 130 N/A N/A
Temple 110
Face Masticatory muscle 110 65 N/A N/A
Neck Neck muscle 140 150 2 2
Back and shoulder Shoulder joint 160 210 2 2
Chest Pectoral muscle 170 140 2 2
Abdomen Abdominal muscle 140 110 2 2
Upper arms and elbow joints Deltoid muscle 190 150 2 2
Lower arms and wrist joints Forearm muscle 180 160 2 2
Hands and fingers Forefinger pad (dominant body side) 300 140 2 2
Forefinger pad (non-dominant body side) 270 2
Forefinger end joint (dominant body side) 280 2
Forefinger end joint (non-dominant body side) 220 2
Palm (dominant body side) 260 2
Palm (non-dominant body side) 260 2
Back of the hand (dominant body side) 200 2
Back of the hand (non-dominant body side) 190 2

 

ID : 7496