Human safety index based on impact severity and human behavior estimation

Gustavo Alfonso Garcia Ricardez, Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara

Research output: Contribution to journalArticlepeer-review


With the increasing physical proximity of Human–Robot Interaction (HRI), ensuring that robots do not harm surrounding humans has become crucial. We propose to quantitatively evaluate human safety by modeling the human behavior so that it maximizes the potential injuries in a given situation. The potential injuries are rated using the impact severity of a collision. Therefore, we estimate the human motion that maximizes the impact severity, which is calculated considering a collision between the estimated state of the human and a future state of the robot given a control input. Through simulation experiments using two test cases and three HRI scenarios, we demonstrate that our method keeps human safety while achieving a competitive performance.

Original languageEnglish
Pages (from-to)177-190
Number of pages14
JournalLecture Notes in Mechanical Engineering
Publication statusPublished - 2017
Externally publishedYes


  • Human behavior estimation
  • Human injury
  • Human robot interaction
  • Human safety
  • Humanoid robot
  • Safety index

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Fluid Flow and Transfer Processes


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