Composite materials are increasingly used in the demanding field of aeronautics. To meet this growing need, the company Coriolis Composites has developed an Automated Fibre Placement device already on the market. This process uses an industrial manip-ulator robot. This fibre placement task requires a com-pacting strength adapted to the material used. For the robot, the reference trajectories in position of each tape are prescribed off-line. However, accuracy problems of tape placement appear when off-line programmed robot trajectories. The proposed approach to address the accuracy problem and the manufacturing constraints is an interactive manufacturing scheme based on exterocep-tive sensor loops. This paper shows an interactive manufacturing approach based on force servoing to control the compacting strength and on visual servoing to control the lateral position of the tape in order to improve the fibre placement accuracy and then the quality of manufactured parts.