A Comprehensive Narrative Review of Abrupt Movements in Human–Robot Interaction

Human–robot interaction (HRI) takes place in dynamic environments where both humans and robots act as active agents, making the system inherently unpredictable. Abrupt movements can originate from either side and include human reflexes, fatigue, or unexpected reactions, as well as robot malfunctions, control errors, or task changes. These unpredictable events generate significant risks for both interaction fluency and safety, affecting not only the physical domain (e.g., collisions, excessive forces) but also cognitive aspects such as trust and predictability. Although different application areas present domain-specific challenges, a comprehensive overview of abrupt movements in HRI is still lacking, especially in the industrial scenario. This review aims to consolidate current knowledge regarding how abrupt phenomena are analyzed, prevented, and mitigated across various contexts and to offer new insights for researchers. In detail, after describing the literature search and the screening process, the review categorizes abrupt events, highlights key methodological approaches, and identifies gaps and future directions. By providing a structured synthesis of existing strategies, this work guides researchers in developing safer and more adaptive HRI frameworks capable of handling unpredictability.