  Designing robotic tasks for co-manipulation necessitates to exploit not only
proprioceptive but also exteroceptive information for improved safety and
autonomy. Following such instinct, this research proposes to formulate
intuitive robotic tasks following human viewpoint by incorporating
visuo-tactile perception. The visual data using depth cameras surveils and
determines the object dimensions and human intentions while the tactile sensing
ensures to maintain the desired contact to avoid slippage. Experiment performed
on robot platform with human assistance under industrial settings validates the
performance and applicability of proposed intuitive task formulation.
