Iron boss Nigel Adkins has discussed terms with the 34-year-old forward - who was previously linked with a move to Glanford Park when he played in the Conference with Halifax Town.
"At his age, Geoff needs to be playing and he really needs a permanent move because there are a lot of forwards in front of him here," said Robson.
"He's been speaking to Scunthorpe, so hopefully things could happen there."
Horsfield has started only one match for the Blades since his £1.2million switch from West Brom in June 2006, spending time on loan at Leeds and Leicester last season.