Due to the inaccurate injury assessment model of human body impact, it is hard to reasonably determine the motion speed limit of a collaborative robot in human-robot collaborative operations. In this paper, to achieve a more accurate injury assessment, an improved human-robot impact model is proposed based on equivalent mass-spring-damper model. A damper-spring structure is added between the striker and the object corresponding to ribs with mass, and human heights and weights are introduced to the model to further improve the accuracy and universality. The parameters related to mass were set to be compatible with body heights and weights, and the other parameters were identified through the particle swarm optimization algorithm. The results of the simulation show that the first segment of the improved model response is almost coincident with the test response, and almost the whole interval is improved. This study will benefit the determination of robot motion speed limit and improve the human-robot cooperation efficiency under the premise of safety in the future.

由于人体撞击伤害评估模型不准确，难以合理确定人机协同作业中协作机器人的运动速度极限。在本文中，为了实现更准确的伤害评估，基于等效质量-弹簧-阻尼器模型提出了一种改进的人机碰撞模型。在撞针与有质量的肋骨对应的物体之间增加了阻尼弹簧结构，并在模型中引入了人体身高和体重，进一步提高了准确性和通用性。与质量相关的参数设置为与身高和体重兼容，其他参数通过粒子群优化算法进行识别。仿真结果表明，改进后的模型响应第一段与试验响应几乎重合，几乎整个区间都得到了改进。本研究将有利于未来机器人运动限速的确定，在安全的前提下提高人机协作效率。