Loredana Zollo Bruno Siciliano Cecilia Laschi Giancarlo Teti Paolo Dario An experimental study on compliance control for a redundant personal robot arm. 101-129 2003 44 Robotics and Autonomous Systems 2 http://dx.doi.org/10.1016/S0921-8890(03)00042-3 db/journals/ras/ras44.html#ZolloSLTD03