Technologies are generally described for detect ion of incidental robot-human contact. In some examples, a robotic actuator movement may generate a feedback signal, such as a haptic signal, a propriorecepiive signal, an optica! signal, and/or an infrared signal. A tremor detector may determine whether the feedback signal contains a tremor signal, characteristic of a human, for example by determining whether frequency components in the feedback signal fall within particular frequency ranges. Upon determining thai the feedback signal does contain a tremor signal characteristic of a human, the tremor detector may conclude that the robotic actuator has come into contact with a human, and may cause the actuator to halt its movement
INCIDENTAL ROBOT-HUMAN CONTACT DETECTION