  Collaborative robots can relief human operators from excessive efforts during
payload lifting activities. Modelling the human partner allows the design of
safe and efficient collaborative strategies. In this paper, we present a
control approach for human-robot collaboration based on human monitoring
through whole-body wearable sensors, and interaction modelling through coupled
rigid-body dynamics. Moreover, a trajectory advancement strategy is proposed,
allowing for online adaptation of the robot trajectory depending on the human
motion. The resulting framework allows us to perform payload lifting tasks,
taking into account the ergonomic requirements of the agents. Validation has
been performed in an experimental scenario using the iCub3 humanoid robot and a
human subject sensorized with the iFeel wearable system.
