A lot of animals can feel anxiety in humans, I would assume hedgies are no different. The tension that your family has around her probably does not help her to be comfortable. I would try what Lady said, to put stuff that smells like them in there...also they have to try handling her. She will be scared of them at first, but there is no way to get to know her without trying!
Try to use positive reinforcement. Like maybe having the person give her a snack (not straight from the hand though or she could associate the hand with food), comforting voice, a favorite toy, etc. She will eventually realize that being pet or held by someone else isnt all that bad!