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Human-robot collaboration including close physical human-robot interaction(pHRI) is a current trend in industry and also science. The safety guidelinesprescribe two modes of safety: (i) power and force limitation and (ii) speedand separation monitoring. We examine the potential of robots equipped withartificial sensitive skin and a protective safety zone around it (peripersonalspace) to safe pHRI.

Safety of human-robot interaction through tactile sensors and peripersonal space representations