“…In its simplest form pHRI boils down to monitoring robots' collisions with the environment or humans and stopping it if a collision has been detected. A more sophisticated realization of pHRI in terms of software should include collision localization (Haddadin et al, 2017 ; Mikhel et al, 2019 ), collision reaction strategies (Haddadin et al, 2008 ), relevant control techniques such as force/impedance control, and real-time motion planning (De Santis et al, 2008 ). In this paper, we focus on a simple form of pHRI which can be used independently—in situations when a robot is performing a task and a human happens to be in its way, or in situations when a human, by deliberately coming into contact with a robot, can prevent it from hurting itself, others, or damage the environment—or as a part of more sophisticated pHRI used for supportive, collaborative, or cooperative interactions (Haddadin and Croft, 2016 ).…”