“…Medicine is an area that has benefited from the use of robots in help and assistance for the elderly people, rehabilitation therapies, surgeries, etc. (Hagn et al, 2008;Marchal-Crespo and Reinkensmeyer, 2009;Xu et al, 2011;Gribovskaya et al, 2011;Sharifi et al, 2012;Hussain et al, 2013;Pérez-Ibarra et al, 2014;Sharifi et al, 2014;Song et al, 2015;Li et al, 2017). In this kind of applications, safety is an important factor due to the unstructured nature of human-robot interaction tasks, and then suitable control algorithms are required to regulate a compliant and stable behavior of the robot.…”