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react to accidental collisions as well as to realize intended physical human robot interaction. Figure 9 depicts the contact cube with integrated force/torque sensing capability, which serves as a reference [...] reference for experiments in direct force control as well as collision detection and reaction. Figure 9 : TUDOR and the contact cube with integrated force/torque sensor for quantitative evaluation of collision [...] Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010), 401-408; 7-9 June 2010, Munich, Germany. 2009 Franke, R., T. Nierobisch, J. Malzahn, F. Hoffmann und T. Bertram : …