{"id":"https://openalex.org/W4408032621","doi":"https://doi.org/10.3390/robotics14030027","title":"Assessing Safety in Physical Human\u2013Robot Interaction in Industrial Settings: A Systematic Review of Contact Modelling and Impact Measuring Methods","display_name":"Assessing Safety in Physical Human\u2013Robot Interaction in Industrial Settings: A Systematic Review of Contact Modelling and Impact Measuring Methods","publication_year":2025,"publication_date":"2025-02-28","ids":{"openalex":"https://openalex.org/W4408032621","doi":"https://doi.org/10.3390/robotics14030027"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14030027","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14030027","pdf_url":"https://www.mdpi.com/2218-6581/14/3/27/pdf?version=1740727095","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"review","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/14/3/27/pdf?version=1740727095","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093627570","display_name":"Buddhika Piyumal Bandara Samarathunga Samarathunga Mudiyanselage","orcid":"https://orcid.org/0009-0008-0562-2796"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"funder","lineage":["https://openalex.org/I4210155236"]},{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Samarathunga S. M. B. P. B.","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy","Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, Via Alfonso Corti, 12, 20133 Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]},{"raw_affiliation_string":"Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, Via Alfonso Corti, 12, 20133 Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047047966","display_name":"Marcello Valori","orcid":"https://orcid.org/0000-0003-4663-9865"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"funder","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marcello Valori","raw_affiliation_strings":["Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, Via Alfonso Corti, 12, 20133 Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, Via Alfonso Corti, 12, 20133 Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028396070","display_name":"Giovanni Legnani","orcid":"https://orcid.org/0000-0002-2700-5093"},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giovanni Legnani","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038856844","display_name":"Irene Fassi","orcid":"https://orcid.org/0000-0002-6144-2123"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"funder","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Irene Fassi","raw_affiliation_strings":["Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, Via Alfonso Corti, 12, 20133 Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council of Italy, Via Alfonso Corti, 12, 20133 Milan, Italy","institution_ids":["https://openalex.org/I4210155236"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047047966"],"corresponding_institution_ids":["https://openalex.org/I4210155236"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":10.5476,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.98308416,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"14","issue":"3","first_page":"27","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10809","display_name":"Occupational Health and Safety Research","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.514130175113678},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4490063786506653},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4426884949207306},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.441386342048645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4147995412349701},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3794596791267395},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3698803782463074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35600990056991577},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.33400240540504456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1971694529056549}],"concepts":[{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.514130175113678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4490063786506653},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4426884949207306},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.441386342048645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4147995412349701},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3794596791267395},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3698803782463074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35600990056991577},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33400240540504456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1971694529056549}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics14030027","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14030027","pdf_url":"https://www.mdpi.com/2218-6581/14/3/27/pdf?version=1740727095","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a517b8a805294b85bcc4b0498b93ffea","is_oa":true,"landing_page_url":"https://doaj.org/article/a517b8a805294b85bcc4b0498b93ffea","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 14, Iss 3, p 27 (2025)","raw_type":"article"},{"id":"pmh:oai:iris.unibs.it:11379/636426","is_oa":true,"landing_page_url":"https://hdl.handle.net/11379/636426","pdf_url":null,"source":{"id":"https://openalex.org/S4306400804","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Brescia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66752286","host_organization_name":"University of Milano-Bicocca","host_organization_lineage":["https://openalex.org/I66752286"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/robotics14030027","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14030027","pdf_url":"https://www.mdpi.com/2218-6581/14/3/27/pdf?version=1740727095","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4408032621.pdf"},"referenced_works_count":129,"referenced_works":["https://openalex.org/W1480904650","https://openalex.org/W1970273766","https://openalex.org/W1978351571","https://openalex.org/W1979918347","https://openalex.org/W1981658682","https://openalex.org/W1982485639","https://openalex.org/W1985664277","https://openalex.org/W1998513282","https://openalex.org/W1999318314","https://openalex.org/W2003613217","https://openalex.org/W2004620535","https://openalex.org/W2041570633","https://openalex.org/W2050835671","https://openalex.org/W2056960257","https://openalex.org/W2066379939","https://openalex.org/W2101032721","https://openalex.org/W2113811050","https://openalex.org/W2129676789","https://openalex.org/W2154606490","https://openalex.org/W2161668850","https://openalex.org/W2219578273","https://openalex.org/W2280090643","https://openalex.org/W2313480834","https://openalex.org/W2336299526","https://openalex.org/W2343872196","https://openalex.org/W2402596667","https://openalex.org/W2546545659","https://openalex.org/W2547310703","https://openalex.org/W2569195620","https://openalex.org/W2624938388","https://openalex.org/W2743884682","https://openalex.org/W2754396049","https://openalex.org/W2768174095","https://openalex.org/W2774036007","https://openalex.org/W2783192400","https://openalex.org/W2784881541","https://openalex.org/W2787473672","https://openalex.org/W2793316857","https://openalex.org/W2797646462","https://openalex.org/W2888204695","https://openalex.org/W2888391846","https://openalex.org/W2896444077","https://openalex.org/W2901864692","https://openalex.org/W2931252319","https://openalex.org/W2934981664","https://openalex.org/W2942522555","https://openalex.org/W2971054685","https://openalex.org/W2974425084","https://openalex.org/W3004089037","https://openalex.org/W3010621561","https://openalex.org/W3026646268","https://openalex.org/W3026765505","https://openalex.org/W3029326580","https://openalex.org/W3038216916","https://openalex.org/W3040422412","https://openalex.org/W3044681009","https://openalex.org/W3045503639","https://openalex.org/W3045522824","https://openalex.org/W3073446362","https://openalex.org/W3082157801","https://openalex.org/W3118340928","https://openalex.org/W3120928485","https://openalex.org/W3130656041","https://openalex.org/W3159981083","https://openalex.org/W3160377765","https://openalex.org/W3160632742","https://openalex.org/W3161388043","https://openalex.org/W3161605745","https://openalex.org/W3161752614","https://openalex.org/W3162221246","https://openalex.org/W3162237794","https://openalex.org/W3162671829","https://openalex.org/W3163031895","https://openalex.org/W3165587011","https://openalex.org/W3169462964","https://openalex.org/W3169786857","https://openalex.org/W3188067267","https://openalex.org/W3188600272","https://openalex.org/W3194380416","https://openalex.org/W3200473062","https://openalex.org/W3207782855","https://openalex.org/W3212664032","https://openalex.org/W4200302068","https://openalex.org/W4200452682","https://openalex.org/W4205258958","https://openalex.org/W4210288987","https://openalex.org/W4224103495","https://openalex.org/W4226136400","https://openalex.org/W4285102534","https://openalex.org/W4285792117","https://openalex.org/W4307265885","https://openalex.org/W4308262121","https://openalex.org/W4313033927","https://openalex.org/W4315472065","https://openalex.org/W4316372766","https://openalex.org/W4316659472","https://openalex.org/W4316660937","https://openalex.org/W4321795093","https://openalex.org/W4381185494","https://openalex.org/W4383108707","https://openalex.org/W4383954961","https://openalex.org/W4385275332","https://openalex.org/W4386891191","https://openalex.org/W4387252139","https://openalex.org/W4387581373","https://openalex.org/W4387887558","https://openalex.org/W4388308723","https://openalex.org/W4388821582","https://openalex.org/W4389665454","https://openalex.org/W4389724613","https://openalex.org/W4390470871","https://openalex.org/W4391099508","https://openalex.org/W4391311400","https://openalex.org/W4391678051","https://openalex.org/W4392719856","https://openalex.org/W4393284193","https://openalex.org/W4394575545","https://openalex.org/W4394591865","https://openalex.org/W4395097935","https://openalex.org/W4399801401","https://openalex.org/W4402911649","https://openalex.org/W4403278853","https://openalex.org/W4403309382","https://openalex.org/W4403678626","https://openalex.org/W6760920981","https://openalex.org/W6854819562","https://openalex.org/W6857336165","https://openalex.org/W6862517208","https://openalex.org/W7005890726"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W4244907930","https://openalex.org/W2171912896"],"abstract_inverted_index":{"As":[0],"collaborative":[1],"robots":[2],"(cobots)":[3],"increasingly":[4],"share":[5],"workspaces":[6],"with":[7,31,204],"humans,":[8],"ensuring":[9],"safe":[10,84],"physical":[11],"human\u2013robot":[12,50,58,89,185],"interaction":[13],"(pHRI)":[14],"has":[15],"become":[16],"paramount.":[17],"This":[18,129],"systematic":[19],"review":[20,165],"addresses":[21],"safety":[22,63,127,195,220],"assessment":[23],"in":[24,49,57,122,177],"pHRI,":[25],"focussing":[26],"on":[27,107],"the":[28,32,66,96,105,133,136,142,149,162,210,215,219],"industrial":[29],"field,":[30],"objective":[33],"of":[34,113,120,135,161,213,221],"collecting":[35],"approaches":[36,86],"and":[37,45,61,91,117,141,174,187,189,193],"practices":[38],"developed":[39],"so":[40],"far":[41],"for":[42,87,125,144,148,191],"modelling,":[43,78,80,82],"simulating,":[44],"verifying":[46],"possible":[47],"collisions":[48],"collaboration":[51],"(HRC).":[52],"To":[53],"this":[54,164],"aim,":[55],"advances":[56],"collision":[59,81],"modelling":[60],"test-based":[62],"evaluation":[64],"over":[65],"last":[67],"fifteen":[68],"years":[69],"were":[70,102],"examined,":[71],"identifying":[72],"six":[73],"main":[74],"categories:":[75],"human":[76],"body":[77],"robot":[79],"determining":[83],"limits,":[85],"evaluating":[88],"contact,":[90],"biofidelic":[92,137],"sensor":[93],"development.":[94],"Despite":[95],"reported":[97],"advancements,":[98],"several":[99],"persistent":[100],"challenges":[101],"identified,":[103],"including":[104],"over-reliance":[106],"simplified":[108],"quasi-static":[109],"models,":[110],"insufficient":[111],"exploration":[112],"transient":[114],"contact":[115,186],"dynamics,":[116],"a":[118,158],"lack":[119],"inclusivity":[121],"demographic":[123],"data":[124],"establishing":[126],"thresholds.":[128],"analysis":[130],"also":[131],"underscores":[132],"limitations":[134],"sensors":[138],"currently":[139],"used":[140],"need":[143],"standardised":[145],"validation":[146,196],"protocols":[147],"impact":[150],"scenarios":[151],"identified":[152],"through":[153],"risk":[154],"assessment.":[155],"By":[156],"providing":[157],"comprehensive":[159],"overview":[160],"topic,":[163],"aims":[166],"to":[167,170,183],"inspire":[168],"researchers":[169],"address":[171],"underexplored":[172],"areas":[173],"foster":[175],"innovation":[176],"developing":[178],"advanced,":[179],"but":[180],"suitable,":[181],"models":[182],"simulate":[184],"technologies":[188],"methodologies":[190],"reliable":[192],"user-friendly":[194],"approaches.":[197],"Further":[198],"deepening":[199],"those":[200],"topics,":[201],"even":[202],"combined":[203],"each":[205],"other,":[206],"will":[207],"bring":[208],"about":[209],"twofold":[211],"effect":[212],"easing":[214],"implementation":[216],"while":[217],"increasing":[218],"robotic":[222],"applications":[223],"characterised":[224],"by":[225],"pHRI.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-03-01T00:00:00"}
