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Abstract Measuring and controlling external force from the environment and human beings are essential to realize the future application of the robot systems for medical, nursing, and personal support systems. This paper proposes a friction and noise suppression for force control system based on the integration of the reaction torque observer and force (torque) sensor information. The proposed method performs external force estimation by integrating the low-frequency component information of the force sensor and the high-frequency component of the force information estimated by reaction torque observer (RTOB). By using the low-frequency component of the force sensor, the effect of static friction can be suppressed, and the high-frequency part of RTOB can be used to attenuate the noise component. As a result, the performance of the force control system can be enhanced. The proposed method is evaluated through the experiments of the force control and bilateral control as a position/force hybrid control.