%0 Journal Article %J International Journal of Robotics Research %D 2012 %T On Making Robots Understand Safety: Embedding Injury Knowledge into Control %A S. Haddadin %A S. Haddadin %A A. Khoury %A T. Rokahr %A S. Parusel %A R. Burgkart %A A. Bicchi %A A Albu-Schaeffer %K Robotics %B International Journal of Robotics Research %V 31 %P 1578-1602 %G eng %N 13 %R 10.1177/0278364912462256