Abstract: Current human-robot interaction（HRI） safety evaluation technologies of non-medical robot are confronted with three critical bottlenecks, unclear HRI safety mechanism, lack of test method and standard system, and lack of test instruments and calibration methods. This paper reviews the current research status of collaborative robot safety evaluation technology at home and abroad. It analyzes the current status of HRI safety evaluation technology for robots globally, summarizes the difficulties in HRI safety for collaborative robots, and looks forward to future research trends in HRI safety evaluation.