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On the Use of Virtual Springs to Avoid Singularities and Workspace Boundaries in Force-Feedback Teleoperation

A. Rubio, A. Avello, J. Florez. On the Use of Virtual Springs to Avoid Singularities and Workspace Boundaries in Force-Feedback Teleoperation. In Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 24-28, 2000, San Francisco, CA, USA. pages 2690-2695, IEEE, 2000.

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