Abstract-Safety is one of the key issues in the use of robots, especially when human-robot interaction is targeted. Although unforeseen environment situations, such as collisions or unexpected user interaction, can be handled with specially tailored control algorithms, hard-or software failures typically lead to situations where too large torques are controlled, which cause an emergency state: hitting an end stop, exceeding a torque, and so on-which often halts the robot when it is too late. No sufficiently fast and reliable methods exist which can early detect faults in the abundance of sensor and controller data.

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