2. Human-robot physical interaction and collaboration

The fields of collaborative robotics can be varied, depending on the proximity and level of physical interaction between humans and robots. They include coexistence and space-sharing between human and robot, each with a distinct task, or continuous physical collaboration to accomplish a common task, such as co-handling and co-transporting objects.

Thus, as illustrated in figure 1 , these different proximities give rise to several modes of interaction between humans and robots, right up to physical collaboration (right-hand side of figure 1 ). It should be noted, however, that the part on the far left corresponds...