The Cardiff Blues duo have been sidelined since suffering injuries while on international duty against Australia last month.
They faced a fitness race ahead of the RBS 6 Nations but are set to hand Wales a boost by returning to action against Munster on Saturday.
Roberts damaged ligaments in his elbow against the Wallabies, while Halfpenny was stretchered off with a neck injury after taking a heavy blow in the build-up to Kurtley Beale's match winning try.
"We haven't seen Jamie or Leigh around for a while, but they have both pushed themselves back into contention," said Blues backs coach Gareth Baber.
"They are going through some tests this week just to make sure they are given the all-clear.
"But we expect to see them involved this weekend."
The injury suffered by Roberts was just the latest set-back dealt to the bulldozing centre in a frustrating period but he is relishing his return to action.
"It's good to be back after tearing my ligaments [elbow] in the Australia game," said Roberts.
"I am fortunate to be back a week early and that is testimony to the physios.
"You get given guidelines from injuries and I was looking at six weeks after tearing some ligaments but not requiring surgery.
"I am raring to go in what is a really big season and cannot wait to get back into action.
"It has been a frustrating campaign because I have suffered niggling injuries and I just want to stay fit.
"I got knocked out against Argentina and took a knock to the hip against New Zealand where I could not run and that was followed by the elbow injury in the Australia game.
"It has been frustrating, but I can't dwell on events because these things happen in rugby."