# A Concise Overview of Safety Aspects in Human-Robot Interaction

arXiv: https://arxiv.org/abs/2309.09936 · HTML: https://mlsanity.com/paper/2309.09936/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Sep 2023.

## Built on by (most cited first, 1 of 1)

- [Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching](https://mlsanity.com/paper/2607.11018/) (2026)

## Abstract (arXiv)

As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a multi-layered safety architecture, integrating both physical and cognitive aspects for effective HRI. We outline critical requirements for physical safety layers as service modules that can be arbitrarily queried. Further, we showcase an HRI scheme that addresses human factors and perceived safety as high-level constraints on a validated impact safety paradigm. The aim is to enable safety certification of human-friendly robots across various HRI scenarios.