1. Introduction
1.1. Motivation
1.2. Related survey papers
1.3. Paper contribution, method, and organization
2. Defining perceived safety
2.2. Concepts related to perceived safety
2.3. Expressing lack of perceived safety
2.4. Valence and arousal
3. Assessment methods
3.1. Questionnaires
3.2. Physiological signals
3.3. Behavioral assessment
3.4. Direct input devices
4. Industrial manipulators
5. Mobile robots
6. Mobile manipulators
7. Humanoid robots
8. Drones
9. Autonomous vehicles
10. Discussion
10.1. Factors determining perceived safety
10.2. Experiment duration and location
10.3. Trends over the years
11. Conclusions