The safety monitoring system, developed in this thesis, is conceived to provide an integrated framework for safety by bringing together the three components: a Safety Expert System (SES), a Safety Mode Controller (SMC) and a Human Awareness Interface (HAI). The protocols of the SES are key elements for achieving effective performance of the safety system. A new danger index has been proposed to facilitate the collaboration at different interaction levels. Consisting of two components, this index enables to maintain a safe distance from the robot, while minimizing the probability of...