Dzmitry Tsetserukou Riichiro Tadakuma Hiroyuki Kajimoto Naoki Kawakami Susumu Tachi Towards Safe Human-Robot Interaction: Joint Impedance Control of a New Teleoperated Robot Arm. 860-865 2007 RO-MAN http://dx.doi.org/10.1109/ROMAN.2007.4415205 conf/ro-man/2007 db/conf/ro-man/ro-man2007.html#TsetserukouTKKT07