Reza Seifabadi Seyed Mehdi Rezaei Saeed Shiry Mozafar Saadat Mohammad Zarei-nejad Kamran Razi Hossein Habibollahi Robust Impedance Control of a Delayed Telemanipulator Considering Hysteresis Nonlinearity of the Piezo-actuated Slave Robot. 63-72 2008 EuroHaptics http://dx.doi.org/10.1007/978-3-540-69057-3_7 conf/haptics/2008e db/conf/haptics/eurohaptics2008.html#SeifabadiRSSZRH08