Safety and comfort in human-robot physical in-teractions are essential aspects in the development of social technologies, where natural gestures, such as handshakes, represent a challenge due to their direct physical contact. The implementation of series elastic actuators (SEA) to absorb impacts is proposed as a design strategy that favors safer interactions. This paper presents an experimental study aimed at evaluating how the incorporation of SEAs in robotic arms influences perceived safety and the interaction experience dur-ing handshaking. The design allows a direct comparison of the effect of rigidity versus the incorporation of elastic elements, in order to identify the advantages of SEAs in improving the physical safety and social acceptance of robotic systems in everyday contexts. The experiment was carried out with 10 volunteers (6 men and 4 women), who performed two interactions with each robotic arm: one with rigid joints and the other with flexible joints using SEA. During testing, objective data on end-effector trajectories were collected, as well as subjective information through a perception survey focused on safety, naturalness, and confidence during the handshake. The survey results show increased perceptions of safety and comfort with the SEA-equipped arm, supporting its potential to facilitate safer and more socially accepted human-robot interactions.

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