Robots are expected to be human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed so as to work adapting to human characteristics. In this paper, a variable impedance control method of a robot is proposed for cooperation with a human. First, human characteristics in a cooperative task between two humans are analyzed. It is confirmed that the human characteristics can be expressed by a variable impedance model. Then, we make a robot and a human execute the cooperative task. It is shown that impedance parameters obtained in the experiment perjormed by the two humans give the best characteristics to the robot for cooperation with the human.

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