There are strong recent demands on robots working in complicated environments. How to deal with the physical interaction between human-robot or robot-environment is the key issue for robots working in complicated environment. Such an issue should be solvedwith motion control utilizing advanced techniques in the related areas such as sensors, actuators, mechanics and motor drives. Furthermore, these techniques have to be integrated in a sophisticated manner. Therefore, this session intends to gather researchers and engineers in the abovementioned areas and provide a site for discussion. In particular, the Special Session will focus on, but is not limited to, the following topics of interest.