This chapter describes the materials and methods that were applied throughout the compendium of publications. Section 3.1 details the robotic platforms used within the scope of this study. Section 3.2 is dedicated to a comprehensive review of the relevant literature pertaining to biocooperative controls. Subsequently, Sect. 3.3 focuses on experimental designs and setups. Finally, Sect. 3.4 offers a description of the applied metrics for performance assessment.