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The interaction of a single human with a team of cooperative robots, which collaboratively manipulate an object, poses a great challenge by means of the numerous possibilities of issuing commands to the team or providing appropriate feedback to the human. In this paper we propose a formationbased approach in order to avoid deformations of the object and to virtually couple the human to the formation. Here the human can be interpreted as a leader in a leader-follower formation with the roboticdoi:10.1109/iros.2015.7353708 dblp:conf/iros/SieberMH15 fatcat:eimkqorvf5fpjp5oswhnapfhha