Hamid D. Taghirad, P. R. Bélanger. Intelligent torque sensing and robust torque control of harmonic drive under free-motion. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 1749-1754, IEEE, 1997. [doi]
Abstract is missing.