The present invention relates to a mechatronic system which can adjust mechanical impedance. A controlling method for adjusting the mechanical impedance of a system which is operated by mutual communication with people includes the steps of modeling the system determining characteristics of the modeled system stabilizing the system based on the determined characteristics and designing a controller to adjust the impedance of the system by using an impedance adjusting variable, which is a sole parameter and adjusting the impedance of the system according to the designed controller.COPYRIGHT KIPO 2015본 발명은 기계적 임피던스를 조절할 수 있는 메카트로닉 시스템에 관한 것이다.
