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, this work describes 1 ) the collection of an extensive force dataset on a common pHRI robotic arm with only its internal wrist force-torque sensor, and 3) an exhaustive performance comparison of combinations of feature sets and classification algorithms on this dataset .