Foundations and Trends® in Robotics > Vol 5 > Issue 4

A Survey of Methods for Safe Human-Robot Interaction

Przemyslaw A. Lasota, Massachusetts Institute of Technology, USA, plasota@mit.edu Terrence Fong, NASA Ames Research Center, USA, terry.fong@nasa.gov Julie A. Shah, Massachusetts Institute of Technology, USA, julie_a_shah@csail.mit.edu
 
Suggested Citation
Przemyslaw A. Lasota, Terrence Fong and Julie A. Shah (2017), "A Survey of Methods for Safe Human-Robot Interaction", Foundations and TrendsĀ® in Robotics: Vol. 5: No. 4, pp 261-349. http://dx.doi.org/10.1561/2300000052

Published: 24 May 2017
© 2017 P. A. Lasota, T. Fong and J. A. Shah
 
Subjects
Human-Robot Interaction: Robot Safety,  Human-Robot Interaction: Physical Robot Interaction,  Planning,  Robot Control
 
Keywords
Human-Robot InteractionRobot SafetyPhysical SafetyPsychological SafetyControlPlanningPrediction
 

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In this article:
1. Introduction
2. Safety Through Control
3. Safety Through Motion Planning
4. Safety Through Prediction
5. Safety Through Consideration of Psychological Factors
6. Future Directions
7. Conclusion
Acknowledgements
References

Abstract

Ensuring human safety is one of the most important considerations within the field of human-robot interaction (HRI). This does not simply involve preventing collisions between humans and robots operating within a shared space; we must consider all possible ways in which harm could come to a person, ranging from physical contact to adverse psychological effects resulting from unpleasant or dangerous interaction. In this work, we define what safe HRI entails and present a survey of potential methods of ensuring safety during HRI. We classify this collection of work into four major categories: safety through control, motion planning, prediction, and consideration of psychological factors. We discuss recent work in each major category, identify various sub-categories and discuss how these methods can be utilized to improve HRI safety. We then discuss gaps in the current literature and suggest future directions for additional work. By creating an organized categorization of the field, we hope to support future research and the development of new technologies for safe HRI, as well as facilitate the use of these techniques by researchers within the HRI community.

DOI:10.1561/2300000052
ISBN: 978-1-68083-278-5
104 pp. $75.00
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ISBN: 978-1-68083-279-2
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Table of contents:
1. Introduction
2. Safety Through Control
3. Safety Through Motion Planning
4. Safety Through Prediction
5. Safety Through Consideration of Psychological Factors
6. Future Directions
7. Conclusion
Acknowledgements
References

A Survey of Methods for Safe Human-Robot Interaction

Ensuring human safety is one of the most important considerations within the field of human-robot interaction (HRI). This does not simply involve preventing collisions between humans and robots operating within a shared space; we must consider all possible ways in which harm could come to a person, ranging from physical contact to adverse psychological effects resulting from unpleasant or dangerous interaction.

A Survey of Methods for Safe Human-Robot Interaction organizes and summarizes the large body of research related to facilitation of safe human-robot interaction. It describes the strategies and methods that have been developed thus far, organizes them into subcategories, characterizes relationships between the strategies, and identifies potential gaps in the existing knowledge that warrant further research.

By creating an organized categorization of the field, A Survey of Methods for Safe Human-Robot Interaction is intended to support future research and the development of new technologies for safe HRI, as well as facilitate the use of these techniques by researchers within the HRI community.

 
ROB-052