Low-Impedance Displacement Sensors for Intuitive Physical Human-Robot Interaction This video demonstrates the physical interaction between a human user and a 5-dof robot equipped with two 3-dof passive sensing shells mounted on the links. There are no force/torque sensors. The motion of the passive shells is measured using encoders and used to guide the motion of the robot. It can be observed that the robot responds very intuitively to the input motion of the user and that the interaction impeda