Senator Marco Rubio traveled to the Colombia-Venezuela border on Sunday to visit aid facilities as cargoes with humanitarian resources arrive, aiming to put additional pressure on the Nicolas Maduro administration.
"The narcoterrorist tyranny of Nicolas Maduro continues to block critical humanitarian relief for those who continue to suffer under his regime", the Florida Republican said, adding that the USA stands by the Venezuelan people in their fight for "democracy and freedom".
The European Parliament last month joined a slew of Western nations in recognizing Venezuelan opposition chief Juan Guaido as interim head of state after President Nicolas Maduro won a second term in an election past year that critics denounced as a sham.
The BBC's worldwide correspondent Orla Guerin reports from Yare where the lack of food and medicines are claiming lives.
The incident on Sunday is the latest point of tension between the worldwide community and Mr Maduro, who is in the grip of a power struggle with Mr Guaido, the head of the National Assembly who proclaimed himself interim president last month.
Mr Guaido has given next Saturday - one month to the day after he proclaimed himself acting president - as the date for a showdown with Mr Maduro over the aid.
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"They hang us, steal our money and then say "here, grab these crumbs" and make a global show out of it", Maduro said on Thursday.
Venezuelan Foreign Minister Jorge Arreaza said Maduro's government had sent word through diplomatic channels several days ago that the European lawmakers would not be allowed into the country to pursue "conspiratorial" purposes.
The Feb. 23 deadline sets the stage for a showdown with Maduro, who has said the aid is not needed.
Maduro has been using the military, which remains loyal, to help him block the aid from entering Venezuela, describing it as "crumbs" from a United States government whose restrictions have stripped his administration of control over many of its most valuable assets. Ms Hernandez said her mother often "cried from seeing her patients die from lack of medicine".
Rubio told a cheering crowd that Venezuelan soldiers who block aid would spend "the rest of their lives hiding from justice". He also called for people to gather in cities across the country to receive the aid and called for the armed forces to allow it into the country.
Venezuela suffers from shortages of food medicine and other daily necessities and also has the worst inflation rate in the world.