  Human safety is the most important demand for human robot interaction and
collaboration (HRIC), which not only refers to physical safety, but also
includes psychological safety. Although many robots with different
configurations have entered our living and working environments, the human
safety problem is still an ongoing research problem in human-robot coexistence
scenarios. This paper addresses the human safety issue by covering both the
physical safety and psychological safety aspects. First, we introduce an
adaptive robot velocity control and step size adjustment method according to
human facial expressions, such that the robot can adjust its movement to keep
safety when the human emotion is unusual. Second, we predict the human motion
by detecting the suddenly changes of human head pose and gaze direction, such
that the robot can infer whether the human attention is distracted, predict the
next move of human and rebuild a repulsive force to avoid potential collision.
Finally, we demonstrate our idea using a 7 DOF TIAGo robot in a dynamic HRIC
environment, which shows that the robot becomes sense motive, and responds to
human action and emotion changes quickly and efficiently.
