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Seungnam Yua, Seungwhan Suha, Woonghee Sonb,c, Youngsoo Kimb,d and Changsoo Hana a Dept. of Mechanical Eng., Hanyang University, 1271 Sa-3 dong, Sangnok-gu, Ansan, Kyeonggi-do, Korea b Dept. of Mechatronics Eng., Hanyang University, 1271 Sa-3 dong, Sangnok-gu, Ansan, Kyeonggi-do, Korea c Korea Institute of Industrial Technology, 1271-18 Sa-3 dong, Sangnok-gu, Ansan, Kyeonggi-do, Korea dMinistry of Education, Science and Technology, 77-6, Sejong-No, Jongno-Gu, Seoul, Korea

Manipulator Design Strategy for a Specified Task Based on Human-Robot Collaboration