“…Similar to the humans' anticipatory (feed-forward [Shadmehr and Mussa-Ivaldi, 1994b]) or feed-back [Todorov and Jordan, 2002] mechanisms to develop a suitable motor behaviour, the collaborative robots' response to sensory input can be achieved through model/knowledge based techniques [Tamei and Shibata, 2011, Ogata et al, 2003, Kimura et al, 1999, Magnanimo et al, 2014, the implementation of feedback controllers with pre-set interaction modalities [Peternel et al, 2016c, Donner andBuss, 2016a] or a combined approach [Rozo et al, 2013, Peternel et al, 2016b, Lawitzky et al, 2012b, Palunko et al, 2014. A key strategy in this direction is the establishment of a shared authority framework in which the significant capabilities of both humans and robots can be exploited.…”