In this panel, we will discuss on what means to take the human in the loop in motion planning. Key challenges are object manipulation and motion planning in the vicinity of humans, hand-over configuration computation, coordination/synchronization/timing (before, during, and after the hand-over), motion dynamics during the execution and legibility of motion, compliant force-position control, perception of humans and activity recognition, social cues and norms that need to be considered, and intent communication and signaling (gaze).