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Proposes a safety evaluation method for use in various kinds of control strategies for human-care robots. In the case of a careless collision between a robot and a human, impact force and impact stress are chosen as evaluation measures, and a danger-index is defined to quantitatively evaluate the effectiveness of each safety strategy used for control. As in a previous paper on safety design, this proposed method allows us to assess the contribution of each safety control strategy to the overall safety performance of a human-care robot. In addition, a new type of 3D robot simulation system for danger-evaluation is constructed on PC. The system simplifies to evaluate danger about both design and control of various kind of human-care robots to quantify the effectiveness of various safety strategies.