If humans and robots can work in close proximity in factories, simple tasks can be performed by robots and complex tasks can be performed by humans for greater efficiency. However, the robot must be able to make an emergency stop and its force must be limited to avoid the danger of hitting a human. In contrast, it is thought that robots can be safely moved by controlling the force when they come into contact with humans. Present force control methods have not yet been put to practical use because of the possibility of dangerous motion due to vibration generated when the robot makes contact with a person. In our laboratory, we are studying the control to reduce the impact force at the time of contact and the control to achieve both accuracy and softness, aiming at the practical force control.