Farhad Aghili, Martin Buehler, John M. Hollerbach. Dynamics and control of direct-drive robots with positive joint torque feedback. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 1156-1161, IEEE, 1997. [doi]
Abstract is missing.