Ensuring human safety is one of the most important considerations within the field of human-robot interaction (HRI). This does not simply involve preventing collisions between humans and robots operating within a shared space; we must consider all possible ways in which harm could come to a person, ranging from physical contact to adverse psychological effects resulting from unpleasant or dangerous interaction. A Survey of Methods for Safe Human-Robot Interaction organizes and summarizes the large body of research related to facilitation of safe human-robot interaction. It describes the strategies and methods that have been developed thus far, organizes them into subcategories, characterizes relationships between the strategies, and identifies potential gaps in the existing knowledge that warrant further research. By creating an organized categorization of the field, A Survey of Methods for Safe Human-Robot Interaction is intended to support future research and the development of new technologies for safe HRI, as well as facilitate the use of these techniques by researchers within the HRI community.