It sounds like you are having a difficult time processing what are called 'cues.' Cues are nonverbal prompts that indicate that a person expects, would like, or desires a certain response. We all use them. Without the effective use of cues, communication can become robotic and uncomfortable, which is a bit of what you are describing. I agree with the good suggestions above. Getting with a therapist to help you learn about this could be very helpful to you. It is definitely something that can be learned.

In the meantime, I agree with the others that you should keep socialization to a minimum at work. Be on time. Do your job, do it well, then go home.