Giuliani, ManuelManuelGiulianiLenz, ClausClausLenzMüller, ThomasThomasMüllerRickert, MarkusMarkusRickert0000-0001-6264-0888Knoll, AloisAloisKnoll2024-07-252024-07-2520101875-4805https://fis.uni-bamberg.de/handle/uniba/96721engDesign Principles for Safety in Human-Robot Interactionarticle10.1007/s12369-010-0052-0