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The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with an unstructured environment. The detailed design procedure of the 4-DOFdoi:10.1142/s0219843609001899 fatcat:nc32zmrdmne3ldbkwslzgmdepa