@article {IOPORT.05743235,
    author       = {Liu, Hong and Liu, Ye-Chao and Jin, Minghe and Sun, K. and Huang, J.B.},
    title        = {An experimental study on Cartesian impedance control for a joint torque-based manipulator.},
    year         = {2008},
    journal      = {Advanced Robotics},
    volume       = {22},
    number       = {11},
    issn         = {0169-1864 },
    pages        = {1155-1180},
    publisher    = {Brill Academic Publishers, Leiden; VSP, Zeist},
    doi          = {10.1163/156855308X338410},
    identifier   = {05743235},
}