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In the compared approaches, a supervisory controller checks the distance between the bounding volumes enclosing human operator and robot and prevents potential collisions by determining the robot\u2019s stop time and triggering a stop trajectory if necessary. The methods are tested on a Franka Emika robot with 7 degrees of freedom, involving 27 volunteer participants, who are asked to walk along assigned paths to cyclically intrude the robot workspace, while the manipulator is working. The experimental results show that scaling online the dynamic safety zones is beneficial for improving fluency of human-robot collaboration, showing significant statistical differences with respect to alternative approaches.<\/jats:p>","DOI":"10.1017\/s0263574724000262","type":"journal-article","created":{"date-parts":[[2024,3,15]],"date-time":"2024-03-15T09:13:15Z","timestamp":1710493995000},"page":"1386-1402","source":"Crossref","is-referenced-by-count":12,"title":["An experimental evaluation of robot-stopping approaches for improving fluency in collaborative robotics"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0770-0275","authenticated-orcid":false,"given":"Lorenzo","family":"Scalera","sequence":"first","affiliation":[]},{"given":"Federico","family":"Lozer","sequence":"additional","affiliation":[]},{"given":"Andrea","family":"Giusti","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9902-9783","authenticated-orcid":false,"given":"Alessandro","family":"Gasparetto","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,3,15]]},"reference":[{"key":"S0263574724000262_ref26","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1109\/TASE.2022.3167772","article-title":"Safe human-robot collaboration via collision checking and explicit representation of danger zones","volume":"20","author":"Lacevic","year":"2022","journal-title":"IEEE T Autom Sci Eng"},{"key":"S0263574724000262_ref28","doi-asserted-by":"crossref","first-page":"2706","DOI":"10.1109\/TASE.2022.3201970","article-title":"Improving efficiency of human-robot coexistence while guaranteeing safety: Theory and user study","volume":"20","author":"Pereira","year":"2023","journal-title":"IEEE T Autom Sci Eng"},{"key":"S0263574724000262_ref25","doi-asserted-by":"crossref","first-page":"102258","DOI":"10.1016\/j.rcim.2021.102258","article-title":"An integrated mixed reality system for safety-aware human-robot collaboration using deep learning and digital twin generation","volume":"73","author":"Choi","year":"2022","journal-title":"Robot Com-Int Manuf"},{"key":"S0263574724000262_ref17","doi-asserted-by":"crossref","unstructured":"[17] Svarny, P. , Tesar, M. , Behrens, J. 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