The goal of WP5 is to model cognitive proceses that contribute to whole-body force and impedance control in the targeted robotic scenarios. The control of ones own motion in interaction with a human partner requires analysing the others motion likely forming internal models of the interactive behavior. While the whole range of cognitive control strategies for interactive behaviour exceeds the scope of this proposal, WP5 focuses on the analysis of two cognitive aspects that are essential for the control of compliant motion: (i) extraction and prediction of task-relevant information from the motion (kinematics) of the interaction partner and the generation of predictive models of partner’s motions using kinematic motion tracking data, and (ii) inferring the partner’s forces from the exchange of information through the haptic channel. The task will thereby advance cognitive and perception abilities.