  As of today, robots exhibit impressive agility but also pose potential
hazards to humans using/collaborating with them. Consequently, safety is
considered the most paramount factor in human-robot interaction (HRI). This
paper presents a multi-layered safety architecture, integrating both physical
and cognitive aspects for effective HRI. We outline critical requirements for
physical safety layers as service modules that can be arbitrarily queried.
Further, we showcase an HRI scheme that addresses human factors and perceived
safety as high-level constraints on a validated impact safety paradigm. The aim
is to enable safety certification of human-friendly robots across various HRI
scenarios.
