Gianni Borghesan Claudio Melchiorri Model and Modeless Friction Compensation: Application to a Defective Haptic Interface. 94-103 2008 EuroHaptics http://dx.doi.org/10.1007/978-3-540-69057-3_10 conf/haptics/2008e db/conf/haptics/eurohaptics2008.html#BorghesanM08