With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots are equipped with a range of sensors to perceive human motions. Despite the presence of surveys exploring various aspects of HRI and pHRI, there is presently a gap in comprehensive studies that collect, organize and relate developments across all aspects of contact-based pHRI. It has become challenging to gain a comprehensive understanding of the current state of the field, thoroughly analyze the aspects that have been covered, and identify areas needing further attention. Hence, the present survey. While it includes key developments in pHRI, a particular focus is placed on contact-based interaction, which has numerous applications in industrial, rehabilitation and medical robotics. Across the literature, a common denominator is the importance to establish a safe, compliant and human intention-oriented interaction. This endeavour encompasses aspects of perception, planning and control, and how they work together to enhance safety and reliability. Notably, the survey highlights the application of data-driven techniques: backed by a growing body of literature demonstrating their effectiveness, approaches like reinforcement learning and learning from demonstration have become key to improving robot perception and decision-making within complex and uncertain pHRI scenarios. As the field is yet in its early stage, these observations may help guide future developments and steer research towards the responsible integration of physically interactive robots into workplaces, public spaces, and elements of private life.

翻译：随着人机交互（HRI）技术的进步，机器人现已能够在近距离操作并与人类进行物理交互（pHRI）。同样，由于机器人配备了多种传感器以感知人体运动，基于接触的pHRI正变得越来越普遍。尽管已有综述探索了HRI和pHRI的各个方面，但目前仍缺乏全面收集、整理并关联基于接触的pHRI所有领域发展的系统性研究。全面了解该领域的现状、深入分析已涵盖的方面并识别需要进一步关注的领域已变得具有挑战性。因此，本综述应运而生。虽然它涵盖了pHRI的关键进展，但特别侧重于基于接触的交互——这在工业、康复和医疗机器人领域具有广泛应用。纵观文献，一个共同的核心在于建立安全、顺应且以人类意图为导向的交互的重要性。这一努力涵盖了感知、规划与控制等方面，以及它们如何协同工作以提升安全性和可靠性。值得注意的是，本综述重点强调了数据驱动技术的应用：在日益增多的文献证明其有效性的支持下，强化学习和示教学习等方法已成为在复杂且不确定的pHRI场景中提升机器人感知与决策能力的关键。由于该领域仍处于早期阶段，这些观察可能有助于指导未来发展，并推动研究朝着将物理交互机器人负责任地整合到工作场所、公共空间及私人生活领域的方向前进。