Can't remember where I read this, but it might be relevant.
The human body has evolved to travel by foot. Walking, loping and running. The body is well evolved for absorbing impacts and stresses from these evolution 'design' speeds and falls. The body has not adapted to absorb or concentrate for falls at mechanically enhanced or speeds.
Whilst injuries do occur from walking and running these are generally minor injuries, sprains, twists and breaks. Bike and other higher velocity mechanical injuries tend to involve more intense minor injuries (road rash, rather than a grazed knee / elbow), more breakages and head injuries as a result of rapid deceleration from speed (rather than speed its-self). It's the same reason why motorcyclist wear leathers, drivers [should] wear seat belts and racing drives now employ HANS devices.
OK, a little bit removed from the OPs question, but it basically comes down to the same thing. It's just an order of magnitude. Personally, I choose to wear a helmet whenever our riding. Roads and kerb stones are much harder than skulls, and I choose to give mine the best chance it can get, on the unlikely event of an incident.