Hirohiko Arai, Susumu Tachi. Force detection and active power assistance of a direct-drive manipulator. Advanced Robotics, 2(3):241-257, 1987. [doi]
@article{AraiT87,
title = {Force detection and active power assistance of a direct-drive manipulator},
author = {Hirohiko Arai and Susumu Tachi},
year = {1987},
doi = {10.1163/156855387X00200},
url = {http://dx.doi.org/10.1163/156855387X00200},
researchr = {https://researchr.org/publication/AraiT87},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {2},
number = {3},
pages = {241-257},
}