Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Planning for Muscular and Peripersonal-Space Comfort during Human-Robot
  Forceful Collaboration   This paper presents a planning algorithm designed to improve cooperative
robot behavior concerning human comfort during forceful human-robot physical
interaction. Particularly, we are interested in planning for object grasping
and positioning ensuring not only stability against the exerted human force but
also empowering the robot with capabilities to address and improve human
experience and comfort. Herein, comfort is addressed as both the muscular
activation level required to exert the cooperative task, and the human spatial
perception during the interaction, namely, the peripersonal space. By
maximizing both comfort criteria, the robotic system can plan for the task
(ensuring grasp stability) and for the human (improving human comfort). We
believe this to be a key element to achieve intuitive and fluid human-robot
interaction in real applications. Real HRI drilling and cutting experiments
illustrated the efficiency of the proposed planner in improving overall comfort
and HRI experience without compromising grasp stability.

30
The categories of this paper are: q-alg
13
The categories of this paper are: quant-ph
25
The categories of this paper are: patt-sol
12
The categories of this paper are: nucl-th
16
The categories of this paper are: stat
9
The categories of this paper are: nlin
17
The categories of this paper are: q-fin
19
The categories of this paper are: eess
23
The categories of this paper are: solv-int
2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
8
The categories of this paper are: hep-ex
18
The categories of this paper are: econ
21
The categories of this paper are: adap-org
0
The categories of this paper are: hep-ph
7
The categories of this paper are: hep-th