A major barrier exists preventing today's and future interactive robots from smoothly acting in joint workspaces in real-world and in an efficient and socially compatible manner on human terms. Robots lack the ability to plan actions in a timely manner in order to match dynamics of environment and humans. Environment and human motion dynamics have to be known and represented in a way that sufficient prediction and planning quality is provided even in complex dynamic scenarios with many interaction partners accounting for social aspects. Robots need to be aware of human communication principles in order to estimate intentions and to predict future behavior.SHRINE aims at breaking this barrier in order to provide future robots with interactive capabilities similar to those of humans and to facilitate joint action of humans and robots sharing one world. SHRINE targets an integrated approach towards interaction in complex dynamically changing human-centered environments in terms of a hierarchical framework. SHRINE will investigate dynamic systems approaches to haptic and affective communication in human-robot interaction to consider intention and affect within an integrated robotic control and action planning framework. SHRINE seeks to extend the conventional, purely physics-driven motion prediction approach by estimating intentions of humans and merging these estimates with the dynamic physical environment model. SHRINE will integrate findings from psychology and sociology into the latest path planning and navigation methods.The approach of SHRINE is highly innovative with pioneering character in the integrated approach as well as in the various sub-fields, strongly interdisciplinary bridging engineering approaches and human sciences, and constitutes visionary high-risk research with high-impact on future technologies in the fields of personal assistant and care robots, human-robot collaboration in manufacturing, and autonomous robots in hum-centered environments.