CITATION STYLE
TACHI, S., SAKAKI, T., ARAI, H., NISHIZAWA, S., & PELAEZ-POLO, J. F. (1989). Impedance control of a direct drive manipulator without using force sensors. Journal of the Robotics Society of Japan, 7(3), 172–184. https://doi.org/10.7210/jrsj.7.3_172
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