The former West Indies great and batting sensation revealed late on Tuesday that he will visit Samuels while the pair are still in Melbourne.
Samuels is recovering in a Melbourne hospital from a serious blow into his face that is understood to have left the Windies star with two fractures in his right eye socket.
"I haven't spoken to him as yet, but certainly I know for sure that he is looking forward to me," Richards told Fox Sports.
Samuels was also still suffering from bleeding into the eye from the frightening blow when the dashing right-hander top-edged a ball into his helmet grille from a fiery delivery from Sri Lanka and Melbourne Stars slinging speedster Lasith Malinga.
Samuels copped the nasty whack into his face, when the ball crashed through the wiring grille on his helmet, just a couple of overs after one of world cricket's most vicious on-field clash with world renowned former international star Shane Warne.
Warne, 43, has been suspened for one match and fined a total of $4500 for grabbing Samuels by his jumper as well as obscenely foul language during the ugly spat at the MCG on Sunday as the Melbourne Renegades sealed top spot in this summer's BBL with a strong win over the Stars.
Richards, 60, has been in Australia for the second Big Bash tournament as an official mentor with the Stars.
He confessed ahead of the Stars vital last qualifying game against bottom side Sydney Thunder that he wants to meet and console Samuels before he leaves Melbourne.
Samuels will face two mis-conduct charges for his role in the clash with Warne when he is medically fit to attend a Cricket Australia hearing.
It is believed Samuels will be bed-ridden recovering from his injuries for up to a week.
"I know he is going to be here for a few days and I'm going to see where he lives and make sure that I go there in person rather than for him to hear from me," Richards said.
Richards claimed he had not spoken at length with Warne over his ugly on-field altercation with Samuels.
"I guess when you have a guy who is that competitive and who has been such a great inspiration to not just his art, but to the game itself you are going to get a few heated moments," Richards said.
"I guess it is just one of those things.
"I doubt whether it is going to be the last."