How should rehabilitation, biomedical and social robots behave such that an interacting human is comfortable with them, feels safe with them and is willing to coexist and learn from them? The answer to this question is not trivial because human behaviors, both with their environment and other humans, have complex dynamics that change with an interacting individual’s physiology, age, culture, emotions and pathology. Humans have the intelligence to understand their environment, and a fellow human’s behavior in all these aspects, and interact accordingly. Through integrated research in neuroscience, psychology and robotics, my work aims to improve machines and endow them with similar intelligence to understand human behaviors when they interact with, and help humans. In this talk I will give a brief overview of the works I do and then present a new study where we use ideas from neuroscience to enable automatic tool use by robots