The objective of the TOMORO project is to control in real time the trajectory of an industrial robot taking into account the tool-material interaction variability and the workpiece springback during incremental forming. We hypothesize that the method which consists in (i) modeling the stress and strain fields (ii) predicting the forces along 6 axes applied on the tool and the springback will optimize the processing parameters and tool path. The project TOMORO aims at designing an adaptive observer-based control law to improve robotic incremental forming. We will (i) build a numerical chain to model the tool-material interaction, (ii) design the control law taking into account workpiece behavior, temperature variation and interaction forces and (iii) validate and experimentally evaluate the control law in terms of geometric and quality of surface.