From November 2013 to October 2017 I managed one of the work packages of the European Funded Project 3rd Hand. Related to the 3rd Hand, I also led the efforts of the IAS group into the topic of human-robot collaboration.
During this period, we proposed a new representation of primitive movements that accounts for both robot and human collaborative skills. We called it Interaction Probabilistic Movement Primitives. Investigations towards this new representation led to a number of publications in top-notch journals and conferences [IJRR, AURO, ISRR, HUMANOIDS, etc.] including a nomination for the best paper award at ICRA 2015 with this paper.
We also contributed to other aspects related to collaborative skills, such as ergonomics, joint skill learning, learning from observations, interactive learning, etc. and organized a workshop at IROS in 2016.
You can find the complete list of publications of the project here.