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Company Overview
In May, participates Taipei Intelligent Machinery &
Manufacturing Technology Show (iMTdou) with ITRI.
In August, releases Finger Teach in Taipei International
Industrial Automation Exhibition with ABB, Epson, Mitsubishi,
and FANUC (Century Trading Corporation).
Realizes Taiwan’s first Human-Robot Collaboration (HRC)
production line with Qisda and ABB in April.
In August, participates Taipei International Industrial
Automation Exhibition and TAIROS with ABB, Epson, Century
Trading Corporation, Mitsubishi, and Kawasaki Heavy
Industries (KHI).
Let Tactile Sensing TechnologyBroaden the Future of Industrial Robot
Create a Beautiful Human Robot Collaboration World
In the winter of 2009, I received a mission from ITRI: “Imagine
what technologies would be essential for robots 10 years in
the future?”. As getting along with robots for many years,
I think robots would eventually be able to walk out of the
fence and work with people dealing with various interactive
situations. Thus, I realized the development of tactile sensing
technology would be the key point. In our daily life, there
were already various applications of visual sensing and
auditory sensing technologies helping people to engage
in production, socialization, and entertainment. However,
in industrial field, we physically isolated the robot in order
to prevent from the risk of human impact. The world where
people and robots coexist with high interaction is inevitable,
and the idea of developing tactile sensing technology grows
firmly in my heart. Over the next 8 years, our team developed
the world-leading robot tactile sensing technology under
numerous debates and researches. In addition, we would
not stop our debates and researches to define the future of
tactile sensing technology. Under these discussions between
theories and practices, we hope to develop the best product
which could bring us a better life and future.
In 2017, I founded Mechavision Inc. with tactile sensing
technique, product, and R&D team from ITRI. In cooperation
with well-known robot company such as ABB, Epson, Fanuc,
Kawasaki, Mitsubishi Electronic, etc., we have launched
products such as "Contact Skin" and "Finger Teach". As we
can see that there will be explosive growth in the future
of robot’s application, I believe that the tactile sensing
technology will enhance the application level of robots and
expand more fields. Mechavision Inc. will continue to focus
in developing tactile sensing technology and committing to
bring positive value to the society and create a better world.
Mechavision Inc.
Chairman Dr. Camus Su
Create a wonderful life of
human-robot collaboration
Mechavision
Dr. Su, Chairman of Mechavision Inc. , leads industrial robot
tactile sensing technologies team in Industrial Technology
Research Institute (ITRI).
Succeeds in producing and unveiling Contact Skin on
industrial robot.
Participating Taiwan Automation Intelligence and Robot
Show (TAIROS) and releasing Tactile Safety- Contact Skin
solution with ITRI.
In November, Mechavision Inc. is established in Nangang.
2010 2018
2019
2015
2017
Application
1|Maintenance 3| Human-Robot Independent Operation in Same Field
2| Assembly Line Human-Robot Cooperation
5| Parts Feeding 6| Inspection4| Human-Robot Interactive
robot's workspace worker's workspace
I n t h e s m a r t m a n u f a c t u r e e r a , t h e
improvement of labor quality and the
change of the working environment have
both emphasized the role of robots that
played. The traditional production way has
also changed from "few items large amount"
to "many items small amount" due to the
customer's fast changing requirements.
According to the report from International
Federations of Robotics (IFR), the number of
robots supplied by the factory world-wide
will reach approximately 630,000 per year till
2021. The trend shows that the working area
between robots and workers will be closer,
and the application level of human-robot
collaboration is more and more extensive,
and security will be the cornerstone of robot
application upgrade.
Human robot collaboration brings the
b e n e f i t s o f e f f i c i e n c y i m p r o ve m e n t
t o m o d e r n f a c t o r i e s a n d d r i v e s t h e
development of sensing technology as
well. In the past, most of the techniques
used torque sensing or formulated the
speed of robots to reduce the impact to
human body, which is not perfect solutions
for safety. Therefore, Mechavision Inc.
develops "Contact Skin" which is based
on tactile sensing technology in order to
provide robots to have the tactile sensation.
Moreover, we also passed the collision test
to ensure that the impact to human body
is within the acceptable range. "Contact
Skin" is the device that activates safety I/
O immediately when the collision occurs,
which is also compliant to ISO/TS 15066
standard. We can truly realize a safe and
flexible smart manufacturing after we install
"Contact Skin" on robots.
Mechavision Contact Skin
page 03| 04
Let the Robot Free from Fence.Achieve Safe and Flexible Smart Manufacturing
Easy to Install
High Sensitivity
Unaffected by Environment
Contact Skin canupgrade production line and enhance its flexibility
Contact Skin stopsthe robot with a firm touch(approximate 1 kg)
Contact Skin sensor is ground-vibration-proof
Contact Skin sensing abilityis not affected by different materials and nonconductor
Contact Skin sensitivity is not affected by robot posture
Standard Solution for Collaborative Scenario of All Kinds of Industrial Robot
No Interference from Torque or Payload
Material Independent
Payload/Company ABB Epson Faunc Kawasaki Mitsubishi
ElectricKuka
(coming soon)
1~10 kg
IRB 1200-5/0.9 C4-A901 (C4L) LR Mate 200iD/7L RS007L RV-7FRL(M)(C)
IRB 1200-7/0.7 VT6-A90S LR Mate 200iD/7LC
IRB 1600-6/1.2 VT6-A90SR LR Mate 200iD
IRB 1600-6/1.45 VT6-A90SW LR Mate 200iD/7C
IRB 1600-10/1.2 LR Mate 200iD/7WP
IRB 1600-10/1.45 LR Mate 200iD/7H
11~20 kg
IRB 2600-12/1.65 M-10iA/12 KR 16 R1610
IRB 2600-20/1.65 KR 20 R1810
21-50 kg IRB 4600-45/2.05
M-20iA
Above 51 kg IRB 4600-60/2.05
Applicable Standard : Functional Safety ISO 13849 : Cat.3 (Double circuit
line design) PL d (PFHd: <10-6) / Collaborative Robot ISO/TS 15066 : Force and Pressure Measurement
FeaturesMechavision Contact Skin
page 05| 06
Applicable to each model
ISO / TS 15066 Collision Measurement CertificationMechavision Contact Skin
page 07| 08
In Response to the Upgrade of Collaboration Safety, Company Pre-preparation would Enhance Competitive Advantage
How to fulfill the completed safety space of Human-Robot Collaboration?
PILZ Collision Measurement Report
1| Robot Qualified
Compliance with ISO 10218-1
2| Contact Skin Qualified
Compliance with ISO 13849
CAT.3, PL d
3| Collision Safety Robot + Contact Skin
Compliance with ISO/TS 15066
collision measurement
4| Field Risk Assessment
It is often to hear that companies have declared
their equipment follows ISO 10218. However, is it ISO
10218-1 or ISO 10218-2? Is it the robot itself or the
system integration?
In general, robots could be regarded as control unit
which cannot complete the automated actions.
According to the current safety regulations, under
this situation, it simply needs to meet ISO 10218-
1. However, when robots were combined with
peripheral systems, we should meet ISO 10218-2
instead in order to evaluate the overall operating
system. Moreover, if we are facing human robot
collaboration scenario, we must refer to the collision
test which mentioned in ISO/TS 15066 to meet
the safety requirements of a complete mechanical
system.
The content of ISO/TS 15066 enables a more specific
security direction when planning a collaborative
environment. For instance, ISO/TS 15066 not only
clearly explains the possibility of collision, the type of
collision, but also how to reduce the risk of collision,
Digitimes / Tim Liu
Body region Specific body area
Quasi-Static Contact Transient Contact
Maximum permissible
pressure Ps[N/c㎡ ]
Maximum
permissible force[N]
Maximum permissible
pressure Ps[N/c㎡ ]
Maximum
permissible force[N]
Skull and forehead1 Middle of forehead 130
130130
1302 Temple 110 110
Face 3 Masticatory muscle 110 65 110 65
Neck4 Neck muscle 140
150280
3005 Seventh neck muscle 210 420
Back and
shoulders
6 Shoulder joint 160210
320420
7 Fifth lumbar vertebra 210 420
Chest8 Sternum 120
140240
2809 Pectoral muscle 170 340
Abdomen 10 Abdominal muscle 140 110 280 220
Pelvis 11 Pelvic bone 210 180 420 360
Upper arms and
elbow joints
12 Deltoid muscle 190150
380300
13 Humerus 220 440
Lower arms and
wrist joints
14 Radial bone 190
160
380
32015 Forearm muscle 180 360
16 Arm nerve 180 360
Hands and fingers
17 Forefinger pad D 300
140
600
280
18 Forefinger pad ND 270 540
19 Forefinger end joint D 280 560
20 Forefinger end joint ND 220 440
21 Thenar eminance 200 400
22 Palm D 260 520
23 Palm ND 260 520
24 Back of the hand D 200 400
25 Back of the hand ND 190 380
Thighs and knees26 Thigh muscle 250
220500
44027 Kneecap 220 440
Lower legs28 Middle of shin 220
130440
26029 Calf muscle 210 420
Human-robot multi-collaborative applications
enhance safety awareness, and a complete safety
certification system will be the key. Mechavision uses
the German PILZ robot measurement system PRMS
(system approved by DGUV), and evaluate Contact
Skin in accordance with the specifications of ISO/
TS 15066. With the collision measurement set PRMS,
we validate industrial robot application which has
Contact Skin by determine the power and force that
occur in the possible collisions in the field, so that the
factory can ensure efficient production and safety.
Compliance with ISO/TS 15066Biomechanical limit for the human during a collisionLimit of human body (below the head) is based on the impact force of abdomen 110N.
Source : Pilz GmbH & Co. KG
Source : ISO/TS 15066 : 2016(en)
such as passively increasing the contacting area,
using buffer materials, or actively controlling power,
strength, and speed. In terms of the safety of the
collaboration environment, if the company could put
the preparation for ISO/TS 15066 in their priority, it
is more possible to complete the creation of safety
environment.
If we followed the regulations mentioned above, it
would be more possible to ensure the employees
working in a safe environment. For companies who
use robot for the first time, clear requirements could
help them to have a better understanding in how to
build the safest environment rather than explore on
their own or make up after the accidents occur.
As mentioned above, ISO regulation is not a "single
article" to comply with. Intricate derivative clauses
and reference provisions are mixed in each main
article. Companies could meet the safety regulations
more effectively through the service companies
which provide security assessment and certification
counseling.
Compliant with DGUVCertified by PILZ PROBms System Collision Measurement for HRC-Application
Skin Model AT0201_Standard AT0201_Plus AT0202_Standard AT0202_Plus
Robot Brand ABB ABB ABB ABB
Series 1200 1200 1200 1200
Robot Model IRB 1200-7/0.7 IRB 1200-7/0.7 IRB 1200-5/0.9 IRB 1200-5/0.9
Robot Payload 7 7 5 5
Robot Reach(m) 0.7 0.7 0.9 0.9
Skin Coverage J3 ~J5 J1~J5 J3 ~J5 J1~J5
Working Range
J1 ±170° ±170° ±170° ±170°
J2 +135° ~-100° +115° ~-95° +135° ~-100° +125° ~-100°
J3 +67° ~-190° +60° ~-190° +70° ~-190° +68° ~-190°
J4 ±270° ±270° ±270° ±270°
J5 +130° ~-115° +130° ~-115° +130° ~-115° +130° ~-115°
J6 ±400° ±400° ±400° ±400°
Electrical Spec.
Power 24V DC 24V DC 24V DC 24V DC
Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)
IP Level 54 54 54 54
Skin Model KT0202_General KT0205_General KT0203_General KT0207
Robot Brand ABB ABB ABB ABB
Series 1600 1600 2600 4600
Robot Model IRB 1600-X/1.2 IRB 1600-X/1.45 IRB 2600-X/1.65 IRB 4600-X/2.05
Robot Payload 6/10 6/10 12/20 45/60
Robot Reach(m) 1.2 1.45 1.65 2.05
Skin Coverage J3 ~J5 J3 ~J5 J3 ~J5 J3 ~J5
Working Range
J1 ±180° ±180° ±180° ±180°
J2 +136° ~-58° +150° ~-90° +155° ~-95° +150° ~ -90°
J3 +55° ~-225° +55° ~-245° +75° ~-180° +75° ~-95°
J4 ±200° ±200° ±400° ±400°
J5 ±115° ±120° ±120° ±115°
J6 ±400° ±460° ±400° ±400°
Electrical Spec.
Power 24V DC 24V DC 24V DC 24V DC
Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)
IP Level 54 54 54 54
Product| Mechavision Contact Skin
page 09| 10ABBseries
ABBAT0201_Standard
ABBAT0201_Plus
ABBAT0202_Standard
ABBAT0202_Plus
ABBKT0202_General
ABBKT0203_General
ABBKT0205_General
ABBKT0207
Skin Model AT0301_Standard AT0301_Plus AT0303_Standard
Robot Brand Fanuc Fanuc Fanuc
Series LR Mate 200iD LR Mate 200iD LR Mate 200iD
Robot Model 7L, /7LC 7L, /7LC 200iD, / 7C, /7WP, /7H
Robot Payload 7 7 7
Robot Reach(m) 0.911 0.911 0.717
Skin Coverage J3 ~J5 J2~J5 J3 ~J5
Working Range
J1 ±180° ±180° ±180°
J2 +145° ~-100° +130° ~-78° +145° ~-100°
J3 +199° ~-57° +192° ~-57° +205° ~-57°
J4 ±190° ±190° ±190°
J5 ±125° ±125° ±125°
J6 ±360° ±360° ±360° *
Electrical Spec.
Power 24V DC 24V DC 24V DC
Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)
IP Level 54 54 54
Skin Model AT0303_Plus KT0304_Standard KT0364_Standard
Robot Brand Fanuc Fanuc Fanuc
Series LR Mate 200iD M-10iA M-20iA
Robot Model 200iD, / 7C, /7WP, /7H M-10iA/12 M-20iA
Robot Payload 7 12 20
Robot Reach(m) 0.717 1.42 1.811
Skin Coverage J2~J5 J3 ~J5 J3 ~J5
Working Range
J1 ±180° ±360° ±170°
J2 +127° ~-75° +160° ~ -80° +160/-80°
J3 +205° ~-57° +80° ~ -170° ±229°
J4 ±190° ±360° ±200°
J5 ±125° ±150° ±180°
J6 ±360° * ±360° ±450°
Electrical Spec.
Power 24V DC 24V DC 24V DC
Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)
IP Level 54 54 54
Product| Mechavision Contact Skin
page 11| 12Fanucseries
FanucAT0301_Standard
FanucAT0301_Plus
FanucAT0303_Standard
FanucAT0303_Plus
FanucKT0304_Standard
FanucKT0364_Standard
(coming soon)
註 *: 7H 無 J6軸 註 *: 7H 無 J6軸
Skin Model AT0101 AT0104 AT0602
Robot Brand Epson Epson Mitsubishi Electric
Series C VT RV-FR
Robot Model C4-A901(C4L) VT6-A90S, /A90SR, /A90SW RV-7FRL(M)(C)
Robot Payload 4 6 7
Robot Reach(m) 0.9 0.9 0.908
Skin Coverage J3 ~J5 J2~J5 J2~J5
Working Range
J1 ±170° ±170° /± 30° ±240°
J2 +65° ~-160° -160° ~ + 65° +115° ~-100°
J3 +225° ~-51° -51° ~ + 190° +157° ~0°
J4 ±200° ± 200° ±400°
J5 ±135° ± 125° ±120°
J6 ±360° ± 360° ±360°
Electrical Spec.
Power 24V DC 24V DC 24V DC
Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)
IP Level 54 54 54
Skin Model AT0701 designing designing
Robot Brand Kawasaki Kuka Kuka
Series R KR16 KR20
Robot Model RS007L 1610 1810
Robot Payload 7 16 20
Robot Reach(m) 0.93 1.612 1.813
Skin Coverage J2 ~J5 designing designing
Working Range
J1 ±170° designing designing
J2 +160/-80° designing designing
J3 ±229° designing designing
J4 ±200° designing designing
J5 ±180° designing designing
J6 ±450° designing designing
Electrical Spec.
Power 24V DC designing designing
Output NC (Normal Closed) designing designing
IP Level 54 designing designing
Product| Mechavision Contact Skin
page 13| 14Epson, Mitsubishi Electric, Kawasaki, Kukaseries
EpsonAT0101
EpsonAT0104
Mitsubishi ElectricAT0602
KawasakiAT0701
Kuka Kuka
(coming soon) (coming soon)