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First Scenario

The first validation scenario the robot is a collaborative robot (i.e. robot=cobot) and provides physical collaboration for improved health & productivity & flexibility. This scenario falls within the scope of human- robot collaboration (e.g. a manipulator helping an assembly-line-worker in heavy load transportation and installation)

Second Scenario

The second validation scenario the robot is an exoskeleton (i.e. robot=exoskeleton) and provides physical collaboration for improved health & productivity & flexibility. It falls within human-exoskeleton phys- ical interaction (e.g. an actuated exoskeleton assisting human walking)

Third Scenario

The third validation scenario the robot is a humanoid (i.e. robot=humanoid). This scenario falls within the scope of human-humanoid physical collaboration (e.g. whole-body collaboration for assisted walk- ing and assembly)

An.Dy has received funding from the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement No. 731540