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I don't think the feedback of the servos will detect a human body part. These servos are very very strong. Maybe when it hit the concrete it will skip a step noticeable in the feedback but that's about it.

This still imparts quite a bit of force to someone, potentially killing them.

This is a 1 ton robotic arm. It won't notice a bit when it hits somebody

They have envelope protection, in software, so if you tell the controls the size and shape of the camera and the surrounding objects they wont drive the camera through the floor whatever path you program in.

But they don't have proximity sensors - like the saw capacitance sensor. It just doesn't work in the real world with large objects and longer distances.

You have to rely on the actors staying on their marks if you want to do a very close approach.