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The paper analyses four types of physical interactions raised during the operation on flight: (1) sudden changes in the mass distribution of the FAMR during the load\/unload phase, affecting the multi-rotor position-attitude controllers, (2) impact and impulsive forces exerted by the human on the FAMR to demonstrate the reliability and robustness of conventional cascade controllers, (3) passive accommodation of the LiCAS while holding the FAMR during the parcel load, relying on the mechanical joint compliance, and (4) compliant human\u2013FAMR interaction, interpreting the multi-rotor pose control error as a Cartesian\/angular deflection to implement an admittance controller that allows the user guiding the platform. Experimental results allow the identification and characterization of these effects for different payload masses. The execution of the complete operation, involving the parcel load with the LiCAS and handover by the user through a window, is validated in a representative indoor scenario.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Graphical Abstract<\/jats:title>\n                \n              <\/jats:sec>","DOI":"10.1007\/s12369-024-01169-3","type":"journal-article","created":{"date-parts":[[2024,10,1]],"date-time":"2024-10-01T13:02:15Z","timestamp":1727787735000},"page":"2109-2132","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Through-Window Home Aerial Delivery System with In-Flight Parcel Load and Handover: Design and Validation in Indoor Scenario"],"prefix":"10.1007","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4549-6957","authenticated-orcid":false,"given":"Alejandro","family":"Suarez","sequence":"first","affiliation":[]},{"given":"Antonio","family":"Gonzalez","sequence":"additional","affiliation":[]},{"given":"Carlos","family":"Alvarez","sequence":"additional","affiliation":[]},{"given":"Anibal","family":"Ollero","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,10,1]]},"reference":[{"key":"1169_CR1","doi-asserted-by":"crossref","unstructured":"Scott JE, Scott CH (2020) Drone delivery models for medical emergencies. 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