Stable physical human-robot interaction using fractional order admittance control. Aydin, Y., Tokatli, O., Patoglu, V., & Basdogan, C. IEEE Transactions on Haptics, 11(3):464–475, IEEE, 2018.
bibtex   
@article{aydin2018stable,
  title={Stable physical human-robot interaction using fractional order admittance control},
  author={Aydin, Yusuf and Tokatli, Ozan and Patoglu, Volkan and Basdogan, Cagatay},
  journal={IEEE Transactions on Haptics},
  volume={11},
  number={3},
  pages={464--475},
  year={2018},
  publisher={IEEE}
}

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