Industrial robot manipulators are widely being used for various automated tasks such
as pick and place, welding, painting, palletizing, drilling, etc. in standardized industrial processes that
require monotonic execution of preprogrammed repetitive tasks with high precision and/or productivity.
However, in many operations, it is desirable to exploit the force capabilities of robots by directly combining
them with the skills and incomparable sensomotoric abilities of a human being for complex tasks.