This paper stated a problem of dilemma among accuracy, robustness, and noisiness in an impedance control. Additionally, applying Three-degree-of-freedom (Three-DoF) control for the problem is proposed as a solution. By using Three-DoF control, the performance is improved in terms of the noisiness compared with a conventional framework. The effectiveness is verified by preliminary simulations and experiments. As a result, the proposed method improved the accuracy/robustness and noisiness simultaneously.