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This work proposes a novel approach for planning and implementing safe and flexible Human-Robot-Interaction (HRI) workspaces using multilayer HRI operation modes. The collaborative operation modes are grouped in different clusters and categorized at various levels systematically. In addition to that, this work proposes a safety-related finite-state machine for describing the transitions between these modes dynamically and properly. The proposed approach is integrated into a new dynamic risk assessment tool as a promising solution toward a new safety horizon in line with industry 4.0.<\/jats:p>","DOI":"10.3389\/frobt.2022.1002226","type":"journal-article","created":{"date-parts":[[2022,9,30]],"date-time":"2022-09-30T06:37:11Z","timestamp":1664519831000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":18,"title":["Towards safety4.0: A novel approach for flexible human-robot-interaction based on safety-related dynamic finite-state machine with multilayer operation modes"],"prefix":"10.3389","volume":"9","author":[{"given":"Mohamad","family":"Bdiwi","sequence":"first","affiliation":[]},{"given":"Ibrahim","family":"Al Naser","sequence":"additional","affiliation":[]},{"given":"Jayanto","family":"Halim","sequence":"additional","affiliation":[]},{"given":"Sophie","family":"Bauer","sequence":"additional","affiliation":[]},{"given":"Paul","family":"Eichler","sequence":"additional","affiliation":[]},{"given":"Steffen","family":"Ihlenfeldt","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2022,9,30]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1016\/j.procir.2018.03.214","article-title":"Refining levels of collaboration to support the design and evaluation of human-robot interaction in the manufacturing industry","volume":"72","author":"Aaltonen","year":"2018","journal-title":"Procedia CIRP"},{"key":"B2","first-page":"501","article-title":"Integrating state machine analysis with system-theoretic process analysis","volume-title":"Software engineering 2013","author":"Abdulkhaleq","year":"2013"},{"key":"B3","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-66266-4_6","article-title":"Modeling operator behavior in the safety analysis of collaborative robotic applications","volume-title":"Computer safety, reliability, and security. 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