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.

翻译：如今，机器人展现出惊人的灵活性，但也对使用或与其协作的人类构成潜在危险。因此，安全被视为人机交互中最关键的因素。本文提出了一种多层安全架构，融合了物理与认知两方面内容，以实现有效的人机交互。我们概述了物理安全层作为可任意查询的服务模块所需的关键要求。此外，我们展示了一种人机交互方案，将人为因素与感知安全作为已验证冲击安全范式中的高层约束加以处理。目标是使安全认证能够覆盖多种人机交互场景下的友好型机器人。