<p>This article presents two independent empirical studies aimed to optimize safety and user experience in human-robot collaboration (HRC). The first study examines how anthropomorphic motion trajectories, programmed by users themselves, influence trust, behavior, and the perception of interaction. The results show significantly higher trust ratings and more stable distance behavior compared to conventional point-to-point trajectories. The second study focuses on the predictability of different standardized motion trajectories. Eye-tracking and SAGAT data demonstrate that linear and circular trajectories lead to higher situation awareness than unpredictable point-to-point movements. Together, the two studies highlight the importance of predictable, human-like motion patterns and participatory system design for safe and accepted human-robot collaboration. The findings provide practical implications for the design and programming of collaborative robotic systems.</p><p><i>Practical Relevance</i>: The results show that predictable, anthropomorphic motion trajectories significantly enhance trust, safety, and situation awareness in human-robot collaboration. By deliberately designing motion profiles and incorporating participatory programming approaches, the acceptance and efficiency of collaborative robotic systems in industrial practice can be improved. The findings provide concrete guidance for the ergonomic and psychological optimization of future HRC workplaces.</p>