Tsetserukou, Dzmitry, Hiroyuki Kajimoto, Naoki Kawakami, and Susumu Tachi. “Safe Reaction of a Robot Arm With Torque Sensing Ability on the External Disturbance and Impact: Implementation of a New Variable Impendance Control ”. Journal of Automation, Mobile Robotics and Intelligent Systems 2, no. 4 (January 22, 2013): 31–37. Accessed May 15, 2025. https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/616.