Progress and prospects of the human–robot collaboration

Arash Ajoudani, Andrea Maria Zanchettin, Serena Ivaldi, Alin Albu-Schäffer, Kazuhiro Kosuge, Oussama Khatib

Research output: Contribution to journalArticlepeer-review

225 Citations (Scopus)


Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An important application area for the integration of robots with such advanced interaction capabilities is human–robot collaboration. This aspect represents high socio-economic impacts and maintains the sense of purpose of the involved people, as the robots do not completely replace the humans from the work process. The research community’s recent surge of interest in this area has been devoted to the implementation of various methodologies to achieve intuitive and seamless human–robot-environment interactions by incorporating the collaborative partners’ superior capabilities, e.g. human’s cognitive and robot’s physical power generation capacity. In fact, the main purpose of this paper is to review the state-of-the-art on intermediate human–robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use cases, and to extend views on the required future developments in the realm of human–robot collaboration.

Original languageEnglish
Pages (from-to)957-975
Number of pages19
JournalAutonomous Robots
Issue number5
Publication statusPublished - 2018 Jun 1


  • Human-in-the-loop
  • Human–robot interaction
  • Human–robot interfaces
  • Physical human robot collaboration
  • Progress and prospects

ASJC Scopus subject areas

  • Artificial Intelligence


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