  The trustworthiness of Robots and Autonomous Systems (RAS) has gained a
prominent position on many research agendas towards fully autonomous systems.
This research systematically explores, for the first time, the key facets of
human-centered AI (HAI) for trustworthy RAS. In this article, five key
properties of a trustworthy RAS initially have been identified. RAS must be (i)
safe in any uncertain and dynamic surrounding environments; (ii) secure, thus
protecting itself from any cyber-threats; (iii) healthy with fault tolerance;
(iv) trusted and easy to use to allow effective human-machine interaction
(HMI), and (v) compliant with the law and ethical expectations. Then, the
challenges in implementing trustworthy autonomous system are analytically
reviewed, in respects of the five key properties, and the roles of AI
technologies have been explored to ensure the trustiness of RAS with respects
to safety, security, health and HMI, while reflecting the requirements of
ethics in the design of RAS. While applications of RAS have mainly focused on
performance and productivity, the risks posed by advanced AI in RAS have not
received sufficient scientific attention. Hence, a new acceptance model of RAS
is provided, as a framework for requirements to human-centered AI and for
implementing trustworthy RAS by design. This approach promotes human-level
intelligence to augment human's capacity. while focusing on contributions to
humanity.
