In current state of the art physical human robot interaction (pHRI), many researches deal with one major topic: safety. With the introduction of cobots, the safety standards ISO/TS 15066 have been updated with strict rules and limitations to be imposed on robots that are meant to come in direct physical interaction with humans. In trying to achieve safer physical interactions, often the robot is overly constrained in both speed and force, becoming rather” passive” when in direct contact with humans, where with direct contact we refer to the human physically touching the robot with their hands or other body parts. However, we believe that to maximize the efficiency of the use of robots, robots of the future should be able to actively help people in their duties and act in an” active” way, therefore we refer to this as” active physical human robot interaction”. To this end, robots should be able to adapt to the human counterparts during the interaction, ie be” active” and at the same time be” human aware”. Our final goal is to implement a new optimal control architecture that takes into account interaction factors extracted from analysis of physical human robot interactions, within the current safety standards or proving the necessity of breaching current safety limitations. In this abstract we present the first step towards our final goal, which is the design and implementation of the experiment to identify interaction factors.