Human–robot collaboration is currently one of the frontiers of industrial robot implementation. In parallel, the use of robots and robotic devices is increasing in several fields, substituting humans in “4D”—dull, dirty, dangerous, and delicate—tasks, and such a trend is boosted by the recent need for social distancing. New challenges in safety assessment and verification arise, due to both the closer and closer human–robot interaction, common for the different application domains, and the broadening of user audience, which is now very diverse. The present paper discusses a cross-domain approach towards the definition of step-by-step validation procedures for collaborative robotic applications. To outline the context, the standardization framework is analyzed, especially from the perspective of safety testing and assessment. Afterwards, some testing procedures based on safety skills, developed within the framework of the European project COVR, are discussed and exemplary presented.

As collaborative robots (cobots) increasingly share workspaces with humans, ensuring safe physical human–robot interaction (pHRI) has become paramount. This systematic review addresses safety assessment in pHRI, focussing on the industrial field, with the objective of collecting approaches and practices developed so far for modelling, simulating, and verifying possible collisions in human–robot collaboration (HRC). To this aim, advances in human–robot collision modelling and test-based safety evaluation over the last fifteen years were examined, identifying six main categories: human body modelling, robot modelling, collision modelling, determining safe limits, approaches for evaluating human–robot contact, and biofidelic sensor development. Despite the reported advancements, several persistent challenges were identified, including the over-reliance on simplified quasi-static models, insufficient exploration of transient contact dynamics, and a lack of inclusivity in demographic data for establishing safety thresholds. This analysis also underscores the limitations of the biofidelic sensors currently used and the need for standardised validation protocols for the impact scenarios identified through risk assessment. By providing a comprehensive overview of the topic, this review aims to inspire researchers to address underexplored areas and foster innovation in developing advanced, but suitable, models to simulate human–robot contact and technologies and methodologies for reliable and user-friendly safety validation approaches. Further deepening those topics, even combined with each other, will bring about the twofold effect of easing the implementation while increasing the safety of robotic applications characterised by pHRI.

The use of collaborative robots in the industrial domain has significantly grown in the last years, allowing humans to operate in the same workspace occupied by robots without any physical barriers. Understandably, the safety of the human operator has been a major concern both for researchers and regulatory bodies. The power and force limited modality of robots is of particular interest in that sense, being used in order to bound the energy of eventual collisions when a close physical interaction with humans is necessary. Such an interaction modality allows the robotic system to operate without the use of barriers, but a measurement of the force and pressure occurring due to a contact must be provided as part of the risk assessment. However, the precise procedure to follow in order to reliably provide such measures is still unclear for users and system integrators willing to self-assess the safety of their own collaborative robotic system. In this work, the repeatability and reliability of such testing procedures and measures are analyzed with an interlaboratory comparison approach, with the aim to establish the degree of variability possibly encountered when performing the same test under slightly different conditions.