Emilio Sanchez, Ángel Rubio, Alejo Avello. An intuitive force feed-back to avoid singularity proximity and workspace boundaries in bilateral controlled systems based on virtual springs. In IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002. pages 1302-1307, IEEE, 2002. [doi]
Abstract is missing.