EN ISO 13482:2014

SLOVENSKI STANDARD
01-julij-2014
Roboti in robotske naprave - Varnostne zahteve za neindustrijske robote -
Nemedicinski roboti za osebno uporabo (ISO 13482:2014)
Robots and robotic devices - Safety requirements for non-industrial robots - Non-medical
personal care robot (ISO 13482:2014)
Roboter und Robotikgeräte - Sicherheitsanforderungen - Nicht-medizinische Haushalts-
und Assistenzroboter (ISO 13482:2014)
Robots et composants robotiques - Exigences de sécurité - Robots non médicaux pour
les soins personnels (ISO 13482:2014)
Ta slovenski standard je istoveten z: EN ISO 13482:2014
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EUROPEAN STANDARD
EN ISO 13482
NORME EUROPÉENNE
EUROPÄISCHE NORM
February 2014
ICS 25.040.30
English Version
Robots and robotic devices - Safety requirements for personal
care robots (ISO 13482:2014)
Robots et composants robotiques - Exigences de sécurité Roboter und Robotikgeräte - Sicherheitsanforderungen für
pour les robots de soins personnels (ISO 13482:2014) nicht-industrielle Roboter - Nichtmedizinische Haushalts
und Assistenzroboter (ISO 13482:2014)
This European Standard was approved by CEN on 4 January 2014.

CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European
Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national
standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN member.

This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CEN member into its own language and notified to the CEN-CENELEC Management Centre has the same
status as the official versions.

CEN members are the national standards bodies of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia,
Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania,
Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United
Kingdom.
EUROPEAN COMMITTEE FOR STANDARDIZATION
COMITÉ EUROPÉEN DE NORMALISATION

EUROPÄISCHES KOMITEE FÜR NORMUNG

CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels
© 2014 CEN All rights of exploitation in any form and by any means reserved Ref. No. EN ISO 13482:2014 E
worldwide for CEN national Members.

Contents Page
Foreword .3
Annex ZA (informative) Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC .4
Foreword
This document (EN ISO 13482:2014) has been prepared by Technical Committee ISO/TC 184 “Automation
systems and integration” in collaboration with Technical Committee CEN/TC 310 “Advanced automation
technologies and their applications” the secretariat of which is held by BSI.
This European Standard shall be given the status of a national standard, either by publication of an identical
text or by endorsement, at the latest by August 2014, and conflicting national standards shall be withdrawn at
the latest by August 2014.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent
rights. CEN [and/or CENELEC] shall not be held responsible for identifying any or all such patent rights.
This document has been prepared under a mandate given to CEN by the European Commission and the
European Free Trade Association, and supports essential requirements of EU Directive.
For relationship with EU Directive, see informative Annex ZA, which is an integral part of this document.
According to the CEN-CENELEC Internal Regulations, the national standards organizations of the following
countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech
Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece,
Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal,
Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom.
Endorsement notice
The text of ISO 13482:2014 has been approved by CEN as EN ISO 13482:2014 without any modification.

Annex ZA
(informative)
Relationship between this European Standard and the Essential
Requirements of EU Directive 2006/42/EC
This European Standard has been prepared under a mandate given to CEN by the European Commission
and the European Free Trade Association to provide one means of conforming to Essential Requirements of
the New Approach Directive 2006/42/EC Machinery safety.
Once this standard is cited in the Official Journal of the European Union under that Directive and has been
implemented as a national standard in at least one Member State, compliance with the normative clauses of
this standard confers, within the limits of the scope of this standard, a presumption of conformity with the
relevant Essential Requirements of that Directive and associated EFTA regulations.
WARNING: Other requirements and other EU Directives may be applicable to the products falling within the
scope of this standard.
INTERNATIONAL ISO
STANDARD 13482
First edition
2014-02-01
Robots and robotic devices — Safety
requirements for personal care robots
Robots et composants robotiques — Exigences de sécurité pour les
robots de soins personnels
Reference number
ISO 13482:2014(E)
©
ISO 2014
ISO 13482:2014(E)
© ISO 2014
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form
or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior
written permission. Permission can be requested from either ISO at the address below or ISO’s member body in the country of
the requester.
ISO copyright office
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Tel. + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail copyright@iso.org
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Published in Switzerland
ii © ISO 2014 – All rights reserved

ISO 13482:2014(E)
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 2
3 Terms and definitions . 3
4 Risk assessment . 9
4.1 General . 9
4.2 Hazard identification . 9
4.3 Risk estimation . 9
5 Safety requirements and protective measures .10
5.1 General .10
5.2 Hazards related to charging battery .11
5.3 Hazards due to energy storage and supply .12
5.4 Robot start-up and restart of regular operation .14
5.5 Electrostatic potential .15
5.6 Hazards due to robot shape .16
5.7 Hazards due to emissions .17
5.8 Hazards due to electromagnetic interference .21
5.9 Hazards due to stress, posture and usage .22
5.10 Hazards due to robot motion .23
5.11 Hazards due to insufficient durability .31
5.12 Hazards due to incorrect autonomous decisions and actions .33
5.13 Hazards due to contact with moving components .34
5.14 Hazards due to lack of awareness of robots by humans .35
5.15 Hazardous environmental conditions .35
5.16 Hazards due to localization and navigation errors .37
6 Safety-related control system requirements .38
6.1 Required safety performance .38
6.2 Robot stopping .40
6.3 Limits to operational spaces .43
6.4 Safety-related speed control .44
6.5 Safety-related environmental sensing .44
6.6 Stability control .46
6.7 Safety-related force control .47
6.8 Singularity protection .47
6.9 Design of user interface .48
6.10 Operational modes .49
6.11 Manual control devices .51
7 Verification and validation .52
8 Information for use .52
8.1 General .52
8.2 Markings or indications .53
8.3 User manual .55
8.4 Service manual .56
Annex A (informative) List of significant hazards for personal care robots .58
Annex B (informative) Examples of operational spaces for personal care robots .66
Annex C (informative) Example of the implementation of a safeguarded space .69
Annex D (informative) Examples of functional tasks of personal care robots .72
Annex E (informative) Examples of markings for personal care robots .75
ISO 13482:2014(E)
Bibliography .77
iv © ISO 2014 – All rights reserved

ISO 13482:2014(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2. www.iso.org/directives
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any
patent rights identified during the development of the document will be in the Introduction and/or on
the ISO list of patent declarations received. www.iso.org/patents
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
The committee responsible for this document is ISO/TC 184, Automation systems and integration,
Subcommittee SC 2, Robots and robotic devices.
ISO 13482:2014(E)
Introduction
This International Standard has been developed in recognition of the particular hazards presented by
newly emerging robots and robotic devices for new applications in non-industrial environments for
providing services rather than manufacturing applications in industrial applications. This International
Standard focuses on the safety requirements for personal care robots in non-medical applications.
This International Standard complements ISO 10218-1, which covers the safety requirements for robots
in industrial environments only. This International Standard includes additional information in line
with ISO 12100 and adopts the approach proposed in ISO 13849 and IEC 62061 to formulate a safety
standard for robots and robotic devices in personal care to specify the conditions for physical human-
robot contact.
This International Standard is a type-C standard, as stated in ISO 12100.
When a type-C standard deviates from one or more technical provisions dealt with by type-A or by
type-B standards, the type-C standard takes precedence.
It is recognized that robots and robotic devices in personal care applications require close human-robot
interaction and collaborations, as well as physical human-robot contact.
The robots or robotic devices concerned, and the extent to which hazards, hazardous situations or
hazardous events are covered, are indicated in the scope of this International Standard.
Hazards are well recognized, and the sources of the hazards are frequently unique to particular robot
systems. The number and types of hazards are directly related to the nature of the robot application, the
complexity of the installation, and the level of human-robot interaction incorporated.
The risks associated with these hazards vary with the type of robot used and its purpose, and the way
in which it is installed, programmed, operated, and maintained.
Not all of the hazards identified by this International Standard apply to every personal care robot,
nor will the level of risk associated with a given hazardous situation be the same from robot to robot.
Consequently, the safety requirements, and/or protective measures can vary from what is specified
in this International Standard. A risk assessment is conducted to determine the protective measures
needed when they do not meet safety requirements and/or protective measures specified in this
International Standard, and for the particular application being considered.
In this International Standard, the following verbal forms are used:
— “shall” indicates a requirement;
— “should” indicates a recommendation;
— “may” indicates a permission;
— “can” indicates a possibility or a capability.
In recognition of the variable nature of hazards with personal care robot applications, this International
Standard provides guidance for the assurance of safety in the design and construction of the non-medical
personal care robot, as well as the integration, installation, and use of the robots during their full life
cycle. Since safety in the use of personal care robots is influenced by the design of the particular robot
system, a supplementary, though equally important, purpose is to provide guidelines for the information
for use of personal care robots and robotic devices.
The safety requirements of this International Standard have to be met by the manufacturer and the
supplier of the personal care robot.
Future editions of this International Standard might include more specific requirements on particular
types of personal care robots, as well as more complete numeric data for different categories of people
(e.g. children, elderly persons, pregnant women).
vi © ISO 2014 – All rights reserved

INTERNATIONAL STANDARD ISO 13482:2014(E)
Robots and robotic devices — Safety requirements for
personal care robots
1 Scope
This International Standard specifies requirements and guidelines for the inherently safe design,
protective measures, and information for use of personal care robots, in particular the following three
types of personal care robots:
— mobile servant robot;
— physical assistant robot;
— person carrier robot.
These robots typically perform tasks to improve the quality of life of intended users, irrespective of age
or capability. This International Standard describes hazards associated with the use of these robots, and
provides requirements to eliminate, or reduce, the risks associated with these hazards to an acceptable
level. This International Standard covers human-robot physical contact applications.
This International Standard presents significant hazards and describes how to deal with them for each
personal care robot type.
This International Standard covers robotic devices used in personal care applications, which are treated
as personal care robots.
This International Standard is limited to earthbound robots.
This International standard does not apply to:
— robots travelling faster than 20 km/h;
— robot toys;
— water-borne robots and flying robots;
— industrial robots, which are covered in ISO 10218;
— robots as medical devices;
— military or public force application robots.
NOTE The safety principles established in this International Standard can be useful for these robots listed
above.
The scope of this International Standard is limited primarily to human care related hazards but, where
appropriate, it includes domestic animals or property (defined as safety-related objects), when the
personal care robot is properly installed and maintained and used for its intended purpose or under
conditions which can reasonably be foreseen.
This International Standard is not applicable to robots manufactured prior to its publication date.
This International Standard deals with all significant hazards, hazardous situations or hazardous events
as described in Annex A. Attention is drawn to the fact that for hazards related to impact (e.g. due to a
collision) no exhaustive and internationally recognized data (e.g. pain or injury limits) exist at the time
of publication of this International Standard.
ISO 13482:2014(E)
2 Normative references
The following documents, in whole or in part, are normatively referenced in this document and are
indispensable for its application. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any amendments) applies.
ISO 2631 (all parts), Mechanical vibration and shock — Evaluation of human exposure to whole-body
vibration
ISO 3746, Acoustics — Determination of sound power levels and sound energy levels of noise sources using
sound pressure — Survey method using an enveloping measurement surface over a reflecting plane
ISO 3864-1, Graphical symbols — Safety colours and safety signs — Part 1: Design principles for safety signs
and safety markings
ISO 4413, Hydraulic fluid power — General rules and safety requirements for systems and their components
ISO 4414, Pneumatic fluid power — General rules and safety requirements for systems and their components
ISO 4871, Acoustics — Declaration and verification of noise emission values of machinery and equipment
ISO 7000, Graphical symbols for use on equipment — Registered symbols
ISO 7010, Graphical symbols — Safety colours and safety signs — Registered safety signs
ISO 8373:2012, Robots and robotic devices — Vocabulary
ISO 11202, Acoustics — Noise emitted by machinery and equipment — Determination of emission sound
pressure levels at a work station and at other specified positions applying approximate environmental
corrections
ISO 12100:2010, Safety of machinery — General principles for design — Risk assessment and risk reduction
ISO 13849-1, Safety of machinery — Safety-related parts of control systems — Part 1: General principles
for design
ISO 13850, Safety of machinery — Emergency stop — Principles for design
ISO 13854, Safety of machinery — Minimum gaps to avoid crushing of parts of the human body
1)
ISO 13855 , Safety of machinery — Positioning of safeguards with respect to the approach speeds of parts
of the human body
ISO 13856 (all parts), Safety of machinery — Pressure-sensitive protective devices
ISO 13857, Safety of machinery — Safety distances to prevent hazard zones being reached by upper and
lower limbs
ISO 14118, Safety of machinery — Prevention of unexpected start-up
ISO 14119, Safety of machinery — Interlocking devices associated with guards — Principles for design and
selection
ISO 14120, Safety of machinery — Guards — General requirements for the design and construction of fixed
and movable guards
ISO 15534 (all parts), Ergonomic design for the safety of machinery
IEC 60204-1:2009, Safety of machinery — Electrical equipment of machines — Part 1: General requirements
IEC 60335-1, Household and similar electrical appliances — Safety — Part 1: General requirements
1) If used, consideration shall be given as to the relevance and applicability of the quantitative data to the intended
users of the robot, especially for elderly people and children.
2 © ISO 2014 – All rights reserved

ISO 13482:2014(E)
IEC 60335-2-29, Household and similar electrical appliances — Safety — Part 2-29: Particular requirements
for battery chargers
IEC 60417-1, Graphical symbols for use on equipment — Part 1: Overview and application
IEC 60529, Degrees of protection provided by enclosures (IP Code)
IEC 60825-1, Safety of laser products — Part 1: Equipment classification and requirements
IEC 61140, Protection against electric shock — Common aspects for installation and equipment
IEC 61496 (all parts), Safety of machinery — Electro-sensitive protective equipment
IEC 62061:2012, Safety of machinery — Functional safety of safety-related electrical, electronic and
programmable electronic control systems
IEC 62471, Photobiological safety of lamps and lamp systems
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 12100, ISO 8373 and the
following apply.
3.1
autonomy
ability to perform intended tasks based on current state and sensing, without human intervention
[SOURCE: ISO 8373:2012, 2.2]
3.2
robot
actuated mechanism programmable in two or more axes with a degree of autonomy (3.1) moving within
its environment, to perform intended tasks
[SOURCE: ISO 8373:2012, 2.6, modified]
3.3
robotic device
actuated mechanism fulfilling the characteristics of an industrial robot or a service robot (3.4), but
lacking either the number of programmable axes or the degree of autonomy (3.1)
[SOURCE: ISO 8373:2012, 2.8, modified]
3.4
service robot
robot (3.2) that performs useful tasks for humans or equipment excluding industrial automation
applications
[SOURCE: ISO 8373:2012, 2.10, modified]
3.5
mobile robot
robot (3.2) able to travel under its own control
[SOURCE: ISO 8373:2012, 2.13, modified]
3.6
hazard
potential source of harm
[SOURCE: ISO 12100:2010, 3.6, modified]
ISO 13482:2014(E)
3.7
risk
combination of the probability of occurrence of harm and the severity of that harm
[SOURCE: ISO 12100:2010, 3.12]
3.8
risk assessment
overall process comprising a risk analysis and a risk estimation
[SOURCE: ISO 12100:2010, 3.17, modified]
3.9
safe state
condition of a personal care robot (3.13) where it does not present an impending hazard (3.6)
[SOURCE: ISO 10218-2:2011, 3.11, modified]
3.10
safety-related part of a control system
part of a control system that responds to safety-related input signals and generates safety-related
output signals
[SOURCE: ISO 13489-1:2006, 3.1.1, modified]
3.11
verification
confirmation through the provision of objective evidence that the specified requirements of the personal
care robot (3.13) have been fulfilled
[SOURCE: ISO 9000:2005, 3.8.4, modified]
3.12
validation
confirmation through the provision of objective evidence that the requirements for specific intended
use or application of the personal care robot (3.13) have been fulfilled
[SOURCE: ISO 9000:2005, 3.8.5 modified]
3.13
personal care robot
service robot (3.4) that performs actions contributing directly towards improvement in the quality of life
of humans, excluding medical applications
Note 1 to entry: This might include physical contact (3.19.1) with the human to perform the task.
Note 2 to entry: Typical types of personal care robots include: mobile servant robot (3.14), physical assistant robot
(3.15) and person carrier robot (3.16).
3.14
mobile servant robot
personal care robot (3.13) that is capable of travelling to perform serving tasks in interaction with
humans, such as handling objects or exchanging information
3.15
physical assistant robot
personal care robot (3.13) that physically assists a user (3.26) to perform required tasks by providing
supplementation or augmentation of personal capabilities
4 © ISO 2014 – All rights reserved

ISO 13482:2014(E)
3.15.1
restraint type physical assistant robot
physical assistant robot (3.15) that is fastened to a human during use
EXAMPLE This includes wearable suits or non-medical physical assistance exoskeletons.
3.15.2
restraint-free type physical assistant robot
physical assistant robot (3.15) that is not fastened to a human during use
Note 1 to entry: This allows free holding/releasing of the robot by the human in order to control or stop the
physical assistance. Examples include power assisted devices and/or powered walking aids.
3.16
person carrier robot
personal care robot (3.13) with the purpose of transporting humans to an intended destination
Note 1 to entry: It might possess a cabin and might be equipped with a seat and/or standing support (or similar).
Note 2 to entry: In addition to humans, transportation might include other objects, e.g. pets and property.
3.17
protective stop
interruption of operation that allows an orderly cessation of motion for safeguarding purposes
3.18.1
maximum space
volume which can be swept by the moving parts of the robot (3.2) as defined by the manufacturer, plus
the volume which can be swept by manipulators and payloads
Note 1 to entry: For mobile platforms, this volume can be defined by the physical boundaries through which the
robot can move around.
Note 2 to entry: See Figure 1.
3.18.2
restricted space
portion of the maximum space (3.18.1) confined by limiting devices that establish boundaries which will
not be exceeded by the robot (3.2)
Note 1 to entry: For mobile robots (3.5), this volume can be limited by special markers on floors and walls, or by
software limits (3.27) defined in the internal map of the robot or facility (maximum space).
Note 2 to entry: See Figure 1.
[SOURCE: ISO 8373:2012, 4.8.2, modified]
3.18.3
monitored space
space observed by sensors available to the personal care robot (3.13) in which a safety-related object
(3.21.1) is detected
Note 1 to entry: Monitored space can reach beyond the maximum space (3.18.1) and can be defined by a collection
of mobile sensors on the robot and stationary sensors in and outside the maximum space.
Note 2 to entry: This space can be static or dynamic depending on the personal care robot and its application.
Note 3 to entry: See Figure 1.
ISO 13482:2014(E)
3.18.4
safeguarded space
space in which the personal care robot (3.13) initiates a safety-related function if a safety-related object
(3.21.1) is detected within it
Note 1 to entry: Examples of safety-related functions include trajectory changes, speed reduction, protective stop
(3.17), force limiting.
Note 2 to entry: Annex C provides more details on possible implementations of algorithms for the speed reduction.
Note 3 to entry: Space can be static or dynamic, depending on the personal care robot, its application and its
(dynamic) shape.
Note 4 to entry: See Figure 1.
3.18.5
protective stop space
space in which the personal care robot (3.13) will perform a protective stop (3.17) if a safety-related object
(3.21.1) enters it
EXAMPLE Examples of operational spaces for some different personal care robots are presented in Annex B.
Note 1 to entry: Space can be static or dynamic, depending on the personal care robot, its application and its
(dynamic) shape.
Note 2 to entry: See Figure 1.
3.19.1
contact
zero distance between robot (3.2) and an object in its external environment
3.19.2
non-contact sensing
detection or measurement capability that does not require touching objects (including humans) in the
environment
3.19.3
contact sensing
detection or measurement capability that requires touching objects (including humans) in the
environment
3.19.4
unintended contact
unplanned touching between personal care robot (3.13) and object while performing the intended task
3.19.5
allowed contact
any touching with the personal care robot (3.13) that is permitted by the manufacturer
3.20
relative speed
magnitude of the difference between the velocity vectors of the robot (3.2) and an object (including a
human) about to be touched
Note 1 to entry: The robot velocity is the vector sum of velocities of the robot body and its moving parts.
3.21.1
safety-related object
human, domestic animal, or property to be protected from harm
Note 1 to entry: The kinds of domestic animals (especially pets) and property to be protected depends on the
intended use of the personal care robot.
6 © ISO 2014 – All rights reserved

ISO 13482:2014(E)
3.21.2
safety-related obstacle
object, obstacle, or ground condition which can cause harm if it comes into contact or collision with the
robot (3.2)
3.21.3
safety-related speed limit
upper boundary of speed that a certain point (body location) of a personal care robot (3.13) may reach
without creating an unacceptable risk (3.7)
Note 1 to entry: In the definition, speed can be absolute or relative to the point of interest.
3.21.4
safety-related force limit
upper boundary of force that a certain point of a personal care robot (3.13) can exert against a human, or
other surrounding objects without creating an unacceptable risk (3.7)
3.21.5
safety-related surface condition
surface condition
adverse conditions of travel surface for a mobile personal care robot (3.13), for which hazards (3.6) can
be identified in the risk assessment (3.8)
EXAMPLE Surface conditions by which a person carrier robot (3.16) might roll over or slip causing injury or
damage.
3.22
manual control device
human operated device connected into the control circuit used for controlling the personal care robot
(3.13)
[SOURCE: IEC 60204-1:2009, 3.9, modified]
Note 1 to entry: One or more manual control devices attached to a panel or housing form a command device (3.23).
3.23
command device
device that enables the operator (3.25) or a user (3.26) to control the robot (3.2)
3.24.1
manual mode
operational mode in which the robot (3.2) is operated by direct human intervention via, for example,
pushbuttons or a joystick
Note 1 to entry: This mode is usually used for teaching, tele-operation, fault-finding, repair, cleaning, etc.
[SOURCE: ISO 8373:2012, 5.3.10.2, modified]
3.24.2
autonomous mode
operational mode in which the robot (3.2) function accomplishes its assigned mission without direct
human intervention
EXAMPLE Mobile servant robot (3.14) waiting for an interaction (a command).
3.24.3
semi-autonomous mode
operational mode in which the robot (3.2) function accomplishes its mission with partial human
intervention
EXAMPLE Physical assistant robot (3.15) that tries to correct the human-chosen path to avoid collisions.
ISO 13482:2014(E)
3.25
operator
person designated to make parameter and program changes, and to start, monitor, and stop the intended
operation of the personal care robot (3.13)
[SOURCE: ISO 8373, 2.17, modified]
3.26
user
either the operator (3.25) of the personal care robot (3.13) or the beneficiary of the service provided by
the personal care robot
Note 1 to entry: In some applications, a user could be both the operator and the beneficiary.
3.27
software limits
restrictions to one or more operational parameters of the robot (3.2) defined in the control system
Note 1 to entry: Software limit can restrict operating spaces, speed, force, etc.
3.28
singularity
occurrence whenever the rank of the Jacobian matrix becomes less than full rank
Note 1 to entry: Mathematically, in a singular configuration the joint velocity in joint space might become infinite
to maintain Cartesian velocity. In actual operation, motions defined in Cartesian space that pass near singularities
can produce high axis speeds which can lead to hazardous situations.
Note 2 to entry: The Jacobian matrix is typically defined as a matrix of the first order partial derivatives of the
robot’s degrees of freedom.
[SOURCE: ISO 10218-1:2011, 3.22, modified]
3.29
electro-sensitive protective equipment
ESPE
assembly of devices and/or components working together for protective tripping or presence-sensing
purposes, and comprising as a minimum
— a sensing device;
— controlling/monitoring devices;
— output signal switching devices and/or a safety-related data interface
Note 1 to entry: The safety-related control system associated with the ESPE, or the ESPE itself, might further
include a secondary switching device, muting functions, stopping performance monitor, etc.
Note 2 to entry: A safety-related communication interface can be integrated in the same enclosure as the ESPE.
[SOURCE: IEC 61496-1:2004, 3.5, modified]
3.30
pressure-sensitive protective equipment
PSPE
assembly of devices and components triggered using the “mechanical activated trip” method to provide
protection under hazardous situations
Note 1 to entry: Examples of PSPE are pressure sensitive mats and floors, bumpers, pressure sensitive edges and
bars.
Note 2 to entry: PSPE generate a stopping signal by the use of different techniques, e.g. mechanical contacts, fibre-
optic sensors, pneumatic sensors.
8 © ISO 2014 – All rights reserved

ISO 13482:2014(E)
4 Risk assessment
4.1 General
For risk assessment all requirements of ISO 12100 shall apply. This provides requirements and guidance
in performing risk assessment, including risk analysis based on hazard identification. In performing the
risk assessment, the decision of whether a risk is acceptable or not depends on the application and the
intended use of the personal care robot.
ISO 12100 includes general lists of hazards for machinery, from which the list of hazards for personal
care robots presented in Annex A is derived.
4.2 Hazard identification
The hazard identification shall be carried out to identify any hazards that might be present in a particular
personal care robot. Annex A contains a list of typical hazards that can be present with the personal
care robots described in this International Standard. This list should not be considered all-inclusive
and specific personal care robot systems might also present other hazards as a result of their particular
design, intended use or reasonably foreseeable misuse. An application hazard identification process
shall be performed for each design, and shall give particular consideration to:
a) uncertainty of autonomous decisions made by the robot and possible hazards from wrong decisions;
b) different levels of knowledge, experience and physical conditions of users and other exposed
persons;
c) normal but unexpected movement of the personal care robot;
d) unexpected movement (e.g. jumping in front of the personal care robot from the side or from a
higher level) of humans, domestic animals and other safety-related objects;
e) unintended movement of the personal care robot;
f) unexpected travel surfaces and environmental conditions in the case of mobile robots;
g) uncertainty of safety-related objects to be handled in the case of mobile servant robots;
h) conformity to the human anatomy and its variability in the case of physical assistant robots and
person carrier robots.
Where appropriate, the risk assessment shall consider in particular, manipulators and end-effectors of
the personal care robot, and they shall be given the same requirements as for the robots.
4.3 Risk estimation
A risk estimation shall be carried out on those hazards identified under 4.2, with careful attention paid
to various situations where the personal care robot may contact safety-related objects.
After all inherently safe design and protective measures have been adopted, the residual risk of the
personal care robot shall be evaluated and proven that it is reduced to an acceptable level.
Appropriate risk estimation methods shall be designed, on a case-by-case basis. The results of the
estimation shall be drawn upon to show that the event (e.g. allowed contact between a robot and safety-
related obstacles, or other safety-related objects), does not cause any unacceptable risk. If numeric values
for risk assessment are used for specific applications, an appropriate validation of the test/measurement
methodology shall be provided. If numeric values from other sources are used for risk estimation, it
shall be validated that referring to them is appropriate.
NOTE 1 Human-robot interaction and impacts research studies have been carried out on pain tolerance limits
of adults and robot-human collisions on various parts of the human body to study significant injury mechanism
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