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Transcranial magnetic stimulation is a noninvasive brain stimulation technique. It is based on current induction in the brain with a stimulation coil emitting a strong varying magnetic field. Its development is currently limited by the lack of accuracy and repeatability of manual coil positioning. A dedicated robotic system is proposed in this paper. Contrary to previous approaches in the field, a custom design is introduced to maximize the safety of the subject. Furthermore, the control of the force applied by the coil on the subject's head is implemented. The architecture is original and its experimental evaluation demonstrates its interest: the compensation of the head motion is combined with the force control to ensure accuracy and safety during the stimulation.