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Actuators, which dominate the robot's interactive dynamics, are briefly surveyed, including series elastic, variable-stiffness, and emerging designs. A comparison with human performance is made. A bioinspired approach to controlling interactive dynamics (mechanical impedance or admittance) is reviewed. Robot configuration profoundly modulates apparent inertia, whereas force feedback control has minimal influence. Superimposing first-order mechanical impedances simplifies controlling many degrees of freedom. It manages redundancy while preserving passivity (unlike null-space projection methods) and enables seamless operation into and out of singular configurations. <\/jats:p>","DOI":"10.1146\/annurev-control-042920-010933","type":"journal-article","created":{"date-parts":[[2021,9,28]],"date-time":"2021-09-28T00:48:30Z","timestamp":1632790110000},"page":"179-203","source":"Crossref","is-referenced-by-count":41,"title":["Contact and Physical Interaction"],"prefix":"10.1146","volume":"5","author":[{"given":"Neville","family":"Hogan","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, Massachusetts, 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