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Human support robots are in high demand and the performance enhancement through force control has been extensively studied. However, the design of the force controller and selection of appropriate gains are sometimes difficult because they are affected by the conditions of motion such as environmental impedance or model uncertainties. This study discusses force control with a disturbance observer and applies a neural network (NN) into its controller; the NN works as both the feedback anddoi:10.1541/ieejjia.20004711 fatcat:f5gyfyps7zbutonqrwzyncqaki