Seyed Farokh Atashzar, Mahya Shahbazi, Mahdi Tavakoli, Rajni V. Patel. A Passivity-Based Approach for Stable Patient-Robot Interaction in Haptics-Enabled Rehabilitation Systems: Modulated Time-Domain Passivity Control. IEEE Trans. Contr. Sys. Techn., 25(3):991-1006, 2017. [doi]
Abstract is missing.