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While human safety is always a concern in an environment with human-robot collaboration, this concern magnifies when it is the human-robot work-space that overlaps. This overlap creates potential for collision which would reduce the safety of the system. Fear of such a collision could reduce the productivity of the system. This apprehensiveness is referred to as the perceived safety of the robot by the human. Therefore, we designed a within-subject human-robot collaboration experiment where a human and a robot work together in an assembling task. In order to evaluate the perceived safety during this HRC task, we collected subjective data by means of a questionnaire through two methods: during and after trial. The collected data was analyzed using non-parametric methods and these statistical tests were conducted: Friedman and Wilcoxon. The most clear relationship was found when changing only sensitivity of the robot or all three behaviors of velocity, trajectory, and sensitivity. There is a positive moderate linear relationship between the average safety of the during trial data and the after trial data.