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A neural network control scheme with mixed H2/H∞ performance was proposed for robot force/posi-tion control under parameter uncertainties and external disturbances. The mixed H2/H∞ tracking performance ensures both robust stability under a prescribed attenuation level for external disturbance and H2optimal track-ing. The neural network was introduced to adaptively estimate nonlinear uncertainties, improving the system s performance under parameter uncertainties as well as obtaining the H2/H∞ tracking performance. The simulation shows that the control method performs better even when the system is under large modeling uncertainties and external disturbances.