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

In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The psychological state the expectation towards robot, however, are typically neglected. Even if robot behaviour is regarded as biomechanically safe, humans may still react with a rapid involuntary motion (IM) caused by startle or surprise. Such sudden, uncontrolled motions can jeopardize should be prevented any means. this letter, we propose Expectable Motion Unit (EMU), which ensures that certain probability of IM occurrence not exceeded typical HRI setting. Based on model generated through an experiment 29 participants, establish mapping between velocity, robot-human distance, relative frequency occurrence. This processed real-time capable generator limits velocity during task execution necessary. EMU combined holistic framework integrates both knowledge. A validation showed successfully avoids five out six cases.