In previous works, the perceived safety and comfort are currently not the principal objectives of all industries, especially robotics system. It might lead not to take psychological safety into consideration of adjusting robot behavior, hence, the human-robot interaction lacks of ease and naturalness. In this paper, a novel framework of human’s zones to ensure safety for social interactions in human-machine system is proposed. In the context of service robot in hospital, machine should not produce any actions that may induce worry, surprise or bother. To maintain the comfortable interaction, an algorithm to update human’s state into personal space is developed. Then, a motion model of robot is demonstrated with assumption of the reference path under segmentation. Dynamic Window Approach is employed for motion planning while Optimize Cost function searches the shortest path in a graph. To validate our approach, three test cases (without human-aware framework, with basic model of human’s zone and with extended personal space) are carried out in the same context. Moreover, three interactive indicators, for instance collision index (CI), interaction index (CII) and relative velocity of robot (Vr), are analyzed in different situations. Lack of human-aware framework, robot might break all thresholds and meet the potential collisions. While robot with basic model of human’s zone in its perception maintains the physically safe thresholds but not socially, it respects whole criterions in both physical constraints and social relations. As a result, our findings are useful for robot’s navigation in presence of human while the socially comfortable interaction is guaranteed.

在以前的工作中，目前感觉到的安全性和舒适性并不是所有行业的主要目标，尤其是机器人系统。这可能会导致没有在调整机器人行为时考虑心理安全性，因此，人机交互缺乏便利性和自然性。在本文中，提出了一种新的人区区域框架，以确保人机系统中社交互动的安全性。在医院服务机器人的背景下，机器不应采取任何可能引起忧虑，意外或困扰的动作。为了保持舒适的互动，开发了一种将人的状态更新为个人空间的算法。然后，在假设分割的参考路径的情况下，演示了机器人的运动模型。动态窗口方法用于运动计划，而“优化成本”功能可搜索图形中的最短路径。为了验证我们的方法，在相同的上下文中执行了三个测试用例（无人类感知框架，具有人类区域的基本模型，并具有扩展的个人空间）。此外，还分析了在不同情况下的三个交互指标，例如碰撞指数（CI），交互指数（CII）和机器人相对速度（Vr）。缺乏人类意识的框架，机器人可能会打破所有阈值并遇到潜在的冲突。尽管具有人类区带基本模型的机器人在感知上保持了身体安全的阈值，但在社会上却没有，但它在物理约束和社会关系方面都遵守了整个准则。结果是，