中文摘要：

介绍了物理性人-机器人交互的定义,对该过程可能对人造成的伤害进行了分析,给出了物理性人-机器人交互安全评价指标,并总结了目前该领域采用的安全策略。综述了国内外在物理性人-机器人交互方面的研究进展,在分析物理性人-机器人交互研究现状的基础上,阐述了该领域面临的问题和挑战。文章指出,目前物理性人-机器人交互伤害分析和安全评估研究主要集中在钝/锐碰撞造成的骨骼和软组织伤害上,缺乏对脏器、血管、神经等损伤的研究。安全策略主要方法有碰撞避免、包裹软弹性材料、关节柔顺设计等。通过对比各种安全策略的设计思想和组成方案,总结出了各种策略的优缺点和存在的主要问题。由于现有的研究表明单一的手段和策略无法保证人-机器人交互的安全性,提出将认知性人-机器人交互和物理性人-机器人交互相结合来增强后者的安全性将是未来发展的方向。

英文摘要：

The definition of physical human-robot interaction is introduced,the injuries for human from the interaction processing are analyzed,and the safety assessments are given.Then,it summarizes the safety strategy used in the physical human-robot interaction.Furthermore,it presents the research progress in the physical human-robot interaction and highlights the questions and challenges in this field on the basis of analysis and research mentioned above.This paper points out that the injuries analysis and safety assessments of physical human-robot interaction mainly focus on the blunt/sharp collision caused the bones and soft tissue injury currently,and lack of study on organs,blood vessels,nerves,and other injuries.Collision avoidance,wrapped in soft elastic material and compliant joint design are the main safety policy.By comparing design ideas and construction schemes of these methods,it summarizes the advantages,disadvantages and main problems.It suggests that the combination of cognitive human-robot interaction and physical human-robot interaction will be the developing direction to enhance the safety of the latter because a single means or a strategy can not guarantee the safety of human-robot interaction.