Most industrial robots lack force sensors, thus unable to perform hand guided (drag-and-teach) operations. However, our module offers a solution to enable hand guided control (HGC) functionality for industrial robots without any force sensors. By utilizing the position and torque feedback of servo motors along with estimations of gravity and friction forces, our module achieves sensor-less HGC. Currently, this module is applicable to industrial six-axis and seven-axis robotic arms. Through this module, operators can intuitively guide the robot to desired positions for teaching points.