In the era of industrialization and automation, safety is a critical
factor that should be considered during the design and realization of each new
system that targets operation in close collaboration with humans.
Of such systems are considered personal and professional service robots
which collaborate and interact with humans in diverse applications
environments.
In this collaboration, human safety is an important factor in the
wider field of human-robot interaction (HRI) since it facilitates their
harmonic coexistence.
The paper at hand aims to systemize the recent literature by describing
the required levels of safety during human-robot interaction, focusing on the
core functions of the collaborative robots when performing specific processes.
It is also oriented towards the existing methods for psychological
safety during human-robot collaboration and its impact on the robot behavior,
while also discusses in depth the psychological parameters of robots
incorporation in industrial and social environments.
Based on the existing works on safety features that minimize the
risk of HRI, a classification of the existing works into five major categories
namely, Robot Perceptions for Safe HRI, Cognition-enabled robot control in HRI,
Action Planning for safe navigation close to humans, Hardware safety features
and Societal and Psychological factors are also applied.
Finally, the current study further discusses the existing risk
assessment techniques as methods to offer additional safety in robotic systems
presenting thus a holistic analysis of the safety in contemporary robots, and
proposes a roadmap for safety compliance features during the development of a
robotic system.
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