Before revision:  Due to the absence in the literature, this work describes 1 ) the collection of an extensive force dataset characterized by human-robot contact events, and 2) classification models informed by this datasetto determine the nature of the interaction .
After revision:  Due to the absence in the literature, 2 ) the collection of an extensive force dataset characterized by human-robot contact events, and 2) classification models informed by this datasetto determine the nature of the interaction .