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Real-time adaptive impedance compensator using simultaneous perturbation stochastic approximation for enhanced physical human-robot interaction transparency

Kyeong Ha Lee, Seung Guk Baek, Hyuk-Jin Lee, Seung-Ho Lee, Ja Choon Koo. Real-time adaptive impedance compensator using simultaneous perturbation stochastic approximation for enhanced physical human-robot interaction transparency. Robotics and Autonomous Systems, 147:103916, 2022. [doi]

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