  With the rapid development of Aerial Physical Interaction, the possibility to
have aerial robots physically interacting with humans is attracting a growing
interest. In one of our previous works, we considered one of the first systems
in which a human is physically connected to an aerial vehicle by a cable.
There, we developed a compliant controller that allows the robot to pull the
human toward a desired position using forces only as an indirect
communication-channel. However, this controller is based on the robot-state
only, which makes the system not adaptable to the human behavior, and in
particular to their walking speed. This reduces the effectiveness and comfort
of the guidance when the human is still far from the desired point. In this
paper, we formally analyze the problem and propose a human-state-aware
controller that includes a human`s velocity feedback. We theoretically prove
and experimentally show that this method provides a more consistent guiding
force which enhances the guiding experience.
