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This paper treats the estimation of human impedance and their application to human-robot
collaboration work. Initially, we perform an experiment at which the human becomes a slave
and the robot behaves like a master having F/T sensor on its end. The human impedance
expressed in terms of mass, damping, and stiffness properties are estimated based on the
force data measured by F/T sensor and the commanded position data of the robot. To show
the effectiveness of the estimated human impedance, we perform the second experiment at ¡¦
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