“…Feedback motion planning for haptic guidance using a cell-decomposition method is proposed by [24] in the context of computer-aided design. So far, most of the existing works investigate individual algorithms for planning [29,24], learning/prediction [19,4,10,18], and Martin Lawitzky, José Ramón Medina Hernández, and Sandra Hirche Technische Universität München, Inst. of Automatic Control Eng., 80290 Munich, Germany, e-mail: {ml, medina, hirche}@tum.de control [27,16,15,15,34,6] for physical human-robot interaction (pHRI) in a separate way.…”