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ISO TS 15066 uses the ICD (International Classification of Diseases) and AIS (Abbreviated Injury Scale) classification systems to set what the criteria are for acceptable injury. However some within the industry feel that a customised set of criteria would be more suitable. ISO/TS 15066:2016(E) Introduction The objective of collaborative robots is to combine the repetitive performance of robots with the individual skills and ability of people. People have an excellent capability for solving imprecise exercises; robots exhibit precision, power and endurance. ISO/TS 15066:2016 Robots and robotic devices - Collaborative robots. ISO/TS 15066:2016 specifies safety requirements for collaborative industrial robot systems and the work environment, and supplements the requirements and guidance on collaborative industrial robot operation given in ISO 10218‑1 and ISO 10218‑2. } ISO TS 15066, 2016 Collaborative robot guidance } ANSI/RIA R15.06-2012 Manufacturers and Integrators Cross references to US standards } CAN/CSA-Z434-14 Manufacturers and Integrators User requirements National deviations } ISO/TS 15066:2016 applies to industrial robot systems as described in ISO 10218‑1 and ISO 10218‑2.

To the best of our knowledge, our proposal is the rst application of ZCBFs as a design tool for safe human-robot collaboration compatibly with the requirements of ISO/TS 15066.
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