This paper presents a mobile robot carrier designed to carry a person using two modes: a mechanism with full support and another with partial support. The carrier is driven through guided control from an operator. Applied force is sensed by a force sensor mounted on the bottom of the handle. The measured force is filtered by the impedance function that generates the desired velocity to drive the motors. The inner loop PID controller is then required to follow the desired velocity, which is the reference input to the system. The impedance function is designed to make the driving condition comfortable for the driver by smoothing out abrupt starts and stops. Feasibility tests on the application of the impedance force control method to the carrier robot have been performed through experimental case studies aimed at evaluating the comfort level of prospective users: one is on a full support case when a user is riding on the carrier and another on a partial support case where the user is pushing the carrier.