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In robotics, many control and planning schemes have been developed thatensure the human physical safety in human-robot interaction. The humanpsychological state and expectation towards the robot, however, are typicallyneglected. Even if the robot behaviour is regarded as biomechanically safe,humans may still react with rapid involuntary motion (IM) caused by startle orsurprise. Obviously, such sudden, uncontrolled motions can jeopardize safetyand should be prevented by any means. In this paper, we propose the ExpectableMotion Unit (EMU) concept which ensures that a certain probability of IMoccurrence is not exceeded in a typical HRI setting. Based on a model of IMoccurrence that we generate through an experiment with 29 participants, themapping between robot velocity, robot-human distance, and the relativefrequency of IM occurrence is established. This mapping is processed towards areal-time capable robot motion generator, which limits the robot velocityduring task execution if necessary. The EMU is combined with thewell-established Safe Motion Unit in order to integrate both physical andpsychological safety knowledge and data into a holistic safety framework. In avalidation experiment, it was shown that the EMU successfully avoids human IMin five out of six cases.

Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction