This National Science Foundation (NSF) Engineering Program (CFDA 47.041) Project Grant award of $240,000 supports research at Trustees of Boston University to develop autonomous artificial intelligence systems for safe human-robot interaction with soft robotic manipulators. The project aims to address key challenges in soft robot control, including meeting safety constraints, balancing compliance and strictness in control strategies, and enabling safe task transitions during contact with humans. The research objectives involve developing safety-verified feedback systems, extending control frameworks to manage soft robot stiffness, and validating the use of temporal logic and automata for safe task execution. This five-year project, running from June 1, 2024 to May 31, 2029, has the potential to make common medical procedures more accessible and less prone to biases by integrating the research with a citizen science activity for high school students. No sub-awards are planned under this grant.