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Our tools and appliances are becoming increasingly more intelligent and interconnected, giving birth to an “Internet of Things” that can be used to support new types of cyber-physical systems (CPSs). While many CPSs are human-centric applications where humans are an essential part of the system, unfortunately, most of these systems still consider the human as an external and unpredictable element to the control loop. In order for these systems to better serve human needs, future CPSs will need to bolster a closer tie with the human element, through Human-in-the-Loop controls that take into consideration human intents, psychological states, emotions and actions inferred through sensory data. This area is a natural confluence of multidisciplinary focus but currently lacks a general understanding of the underlying requirements, principles and theory. As far as we know, this survey is the first effort towards …