The demand for service robots, as well as assistive and rehabilitation robots, has been growing rapidly in both domestic and hospital settings. This trend is driven largely by the aging populations in most developed nations, which require advanced robotic solutions to support healthcare and daily living activities. As robots are increasingly expected to interact directly with humans, particularly in sensitive environments such as homes and hospitals, ensuring safety has become the most critical concern. The ability of robots to operate safely around humans without causing harm has become a key focus in the design of robotic systems, prompting significant research into the development of technologies that prioritize safety and human-friendliness.