Jordi Artigas Carsten Preusche Gerd Hirzinger Gianni Borghesan Claudio Melchiorri Bilateral energy transfer in delayed teleoperation on the time domain. 671-676 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543282 conf/icra/2008 db/conf/icra/icra2008.html#ArtigasPHBM08