The objective of this paper is to present a systematic review of existing\nsensor-based control methodologies for applications that involve direct\ninteraction between humans and robots, in the form of either physical\ncollaboration or safe coexistence. To this end, we first introduce the basic\nformulation of the sensor-servo problem, then present the most common\napproaches: vision-based, touch-based, audio-based, and distance-based control.\nAfterwards, we discuss and formalize the methods that integrate heterogeneous\nsensors at the control level. The surveyed body of literature is classified\naccording to the type of sensor, to the way multiple measurements are combined,\nand to the target objectives and applications. Finally, we discuss open\nproblems, potential applications, and future research directions.\n