In a real environment, robots must cope with various disturbances such as collisions with obstacles. However, it is hard to model the contacts in advance, since there are a huge variety of objects in our daily lives. Humans have the ability to handle such physical interactions in the daily life and a human-like robot with similar physical property as backdrivability and a large number of degrees of freedom has advantages to deal such contacts. In this paper, we develop a compliant human upper body-like robot, which was designed to have a the similar range of movement to a human. In addition we discuss data-driven methods for predicting the contact force between our robot and a deformable soft object.