In this article, we propose a novel passive mechanism and a macro?mini architecture for effective and intuitive physical human?robot interaction (pHRI). The macro?mini concept allows the use of a mini low-impedance passive (LIP) mechanism to effortlessly and intuitively control a macro high-impedance active (HIA) system such as a gantry manipulator. The proposed mini LIP design is based on a three-degrees-of-freedom (3-DoF) translational parallel mechanism, which makes it simple and compact, thereby adding little inertia to the end-effector of the macro HIA mechanism.