This paper describes experimental tests for easy-to-use human interface for industrial robot having hand guiding equipment. Such a hand guiding robot can be expected to be used for assembling large or heavy work-pieces. In this paper, "input-output relation", that is relationship between operator's input and speed of robot hand, is defined. Results of assembling experiments by a hand guiding robot show the effects of the input-output relations on operability. Moreover joystick type interface and force/torque sensor type interface for hand guiding are developed. Through assembling experiments by the hand guiding robot, usability of two interfaces was compared and advantages of the force/torque sensor type was verified.
