The goal of pHRI-lab is to advance human-robot interaction to aid, recover, or improve human movement functions through physical assistance provided by robots. Our approach is to first understand the mechanism underlying natural, intuitive and effective physical interactions in humans through hypothesis-driven human experiments and engineering principles. In addition to using high-quality equipment for biomechanics research (such as Vicon® 3D-motion capture system), we also develop novel interactive devices (such as an overground interactive robot, Ophrie) to investigate physical human-robot interaction in a way that was previously impossible.