Workpackage	Description	Leader
WP1	Domain Analysis and Dependability Approach	Accomplish a detailed analysis of safety issues in physical human-robot interaction including requirements, standards, use cases, applications, test-beds, and risks. An approach on how to achieve dependability including new safety concepts with a varying level of safety will be developed.	KUKA
WP2	Motion Planning for Robots in Presence of Humans	The objective is to investigate the specific issues involved in planning and execution of tasks for a robot manipulator in close interaction with humans and to develop a planner and is associated reactive scheme that elaborates and executes safe and legible manipulator trajectories in vicinity of humans.	CNRS
WP3	Collision Detection, Reaction, and Safe Control	The objective is to develop efficient collision detection methods, using only robot proprioceptive sensors, and safe reaction strategies preventing additional damages in the post-impact phase. In addition, the WP contains the design of safety-oriented motion controllers design for lightweight compliant manipulators and for robotic devices with variable impedance actuation.	UOR
WP4	New Generation of Passively Safe Robots	To develop a new generation of intrinsically safe robot joints, which are harmless to humans in case of collisions, while preserving high manipulative performance.	UNIPI
WP5	Integration, Evaluation, and Optimization	To gauge the progress of the project in its different components, to validate its results and to allow optimization of its products through iterative propose-test-modify cycles.	DLR
WP6	Dissemination and Use of Knowledge	The objective is twofold: • coordination of the management of knowledge and innovation-related activities and thereby to assure the exploitation of the project outputs; • dissemination of the knowledge resulting from the project to the international scientific community as well as to the general public.	UNINA
WP7	Management	The objectives are: • overall financial, scientific, and technological management; • organization and coordination of tasks in workpackages; • coordination of the work between the workpackages; • organization of workshops and internal evaluations; • coordination of the reporting procedures; • continuous information exchange with the EU.	UNIPI