One look at Olaf's hands alone make that an impossible thing to guarantee. Those stick fingers will eventually poke a kid in the eye if kids are allowed to get close to the character. If they gave him a small intimate stage, or roped off area, to do some act or crowd work that would be more ideal/less risky.
Why not make those from foam, ie the tip or something?
Then they will break and wear off quite fast I imagine.
Take a look at industrial cobots (not a typo). They feature rounded corners, have very little to no "finger pinchy areas" and lots of force feedback sensors.
Despite that they still require trained (adult) personal and move very slowly when actually interacting with humans.
That's the price for them being sturdy and precise.