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The goal of this work is to provide (1) a unified robotic architecture to produce these two roles, and (2) a human-guidance detection algorithm to switch across the two roles. In the absence of human-guidance, the robot performs its task autonomously and upon detection of such guidances the robot passively follows the human motions. We employ dynamical systems to generate task-specific motion and admittance control to generate reactive motions toward the human-guidance. This structure enables the robot to reject undesirable perturbations, track the motions precisely, react to human-guidance by providing proper compliant behavior, and re-plan the motion reactively. We provide analytical investigation of our method in terms of tracking and compliant behavior. Finally, we evaluate our method experimentally using a 6-DoF manipulator.<\/jats:p>","DOI":"10.1007\/s10514-020-09934-9","type":"journal-article","created":{"date-parts":[[2020,7,26]],"date-time":"2020-07-26T18:02:20Z","timestamp":1595786540000},"page":"1411-1429","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["A dynamical system approach for detection and reaction to human guidance in physical human\u2013robot interaction"],"prefix":"10.1007","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9470-2561","authenticated-orcid":false,"given":"Mahdi","family":"Khoramshahi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aude","family":"Billard","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,7,26]]},"reference":[{"key":"9934_CR1","doi-asserted-by":"crossref","unstructured":"Bussy, A., Gergondet, P., Kheddar, A., Keith, F., & Crosnier, A. 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