misterbonkers
I can't see the relationship between Civilian use and Military use

when you crash, I don't really think it hurts in different way....
From the various posted anwers above, we as pilots on a commercial level, generally prefer the safety and feel of a full harness. "Civilian" passengers as you mention, would probably feel the same if they were fully made aware of the subtle difference.
I am just curious on why the use of the lap/diagonal seatbelt is only used in Robinson helicopters?