Try to focus not just on the child, but on the approach to the child. As you pointed out, when the rescuer (you) needs to be rescued, that puts the child in far more danger. Knee-jerk reactions without thought can intensify the problem.

I, on the other hand, hear that high-pitched shriek that children make for no reason (sometimes referred to as 'the birth control shriek'), and head in the opposite direction.

Sue