The SecondHands EPFL team has released open source code for wrench decomposition and load share estimation during physical interaction. The repository can be found at This ROS package is used to compute the load share of an object being supported by a robot and a third party (such as a person). The load share is the proportion of the object’s weight supported by the robot, and varies during cooperative tasks such as manipulation or handovers. This code is one of the main components enabling fluid handovers between the SecondHands robot assistant and its human partners. You can see a demo of how it works in this video