可预期运动单元：在人机交互中规避人类非自主运动带来的危险
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction
AI总结：
针对人机交互中人类因受惊产生非自主运动危及安全的问题，提出可预期运动单元EMU，通过速度限制控制非自主运动发生概率，验证实验显示其在六成五的案例中可成功避免该运动。
摘要：
在机器人学领域，研究人员已开发出众多控制与规划方案，以保障人机交互过程中人类的身体安全，但人类的心理状态以及对机器人的预期通常被忽视。即便机器人的行为在生物力学层面被判定为安全，人类仍可能因受惊或意外产生快速的非自主运动（involuntary motion，IM）。这类突发的不受控运动可能危及安全，必须采取一切手段加以预防。\n本文提出可预期运动单元（Expectable Motion Unit，EMU），可确保在典型人机交互（HRI）场景中，IM的发生概率不超过设定阈值。基于一项有29名参与者的实验所构建的IM发生模型，我们建立了机器人速度、机器人与人类的距离以及IM发生相对频率之间的映射关系，并将该映射关系处理为具备实时运行能力的机器人运动生成器，可在任务执行过程中必要时限制机器人速度。EMU被整合至一个融合了身体安全与心理安全知识的整体安全框架中。验证实验表明，EMU在6个案例中有5个成功避免了人类IM的发生。
英文摘要：
In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if the robot behaviour is regarded as biomechanically safe, humans may still react with a rapid involuntary motion (IM) caused by a startle or surprise. Such sudden, uncontrolled motions can jeopardize safety and should be prevented by any means. In this letter, we propose the Expectable Motion Unit (EMU), which ensures that a certain probability of IM occurrence is not exceeded in a typical HRI setting. Based on a model of IM occurrence generated through an experiment with 29 participants, we establish the mapping between robot velocity, robot-human distance, and the relative frequency of IM occurrence. This mapping is processed towards a real-time capable robot motion generator that limits the robot velocity during task execution if necessary. The EMU is combined in a holistic safety framework that integrates both the physical and psychological safety knowledge. A validation experiment showed that the EMU successfully avoids human IM in five out of six cases.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
