Currently, I work on physical human-robot interaction within the IDH team, which I lead since 2020. In particular, I focus on multimodal (vision- and force-based) methods for enabling safe interaction between robots and humans. This research is targeted by the projects H2020 VERSATILE, H2020 SOPHIA, CoBot@LR and ANR SISCOB, all of which I manage or have managed as Principal Investigator for LIRMM. Multimodal control has also inspired two workshops, at IROS15 and IROS16, for which I was the main organiser. I have been Special Issue Guest Editor for the journals RAS, IJHR and IEEE T-ASE as well as Associate Editor for IROS from 2014 to 2021, for ICRA from 2018 to 2021. Since 2022, I am Associate Editor for the IEEE Transactions on Robotics.