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Enhancing the Perception of Safety and Comfort during Physical Human-Robot Handshake Interactions by Integrating Flexible Elements into a Robotic Arm

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

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 effec

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