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Andres, Alvaro Gil (author), Beckers, N.W.M. (author), Abbink, D.A. (author), Peternel, L. (author)We present a method for arbitration between human and robot involvement in a collaborative physical task execution based on ergonomic metrics. The existing methods for ergonomic control of physical human-robot collaboration perform the real-Time arbitration primarily based on a single type of ergonomic metric. The novelty of our approach is...conference paper 2022