Human cooperation robot system in which robot is caused to perform retreat operation

A human cooperation robot system in which a robot and a human perform a cooperative operation while sharing a workspace with each other, comprising:

• an external force detecting unit (S, 21) that detects an external force acting on the robot;
• a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value;
• a position acquiring unit that acquires a current position of the robot;
• and
• a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area.