INTERNATIONAL ISO

STANDARD 13482

First edition
2014-02-01

Robots and robotic devices — Safety

requirements for personal care robots
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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)

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© ISO 2014
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form
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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
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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

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 ISO 13482:2014(E)


Bibliography.............................................................................................................................................................................................................................. 77
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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
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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.

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 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
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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).

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 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.
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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.

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