Paper  doi  bibtex   

@Article{	  chiaverini199827,
  author	= {Chiaverini, S. and Siciliano, B. and Villani, L.},
  title		= {Force and Position Tracking: Parallel Control With
		  Stiffness Adaptation},
  journal	= {IEEE Control Systems},
  year		= {1998},
  volume	= {18},
  number	= {1},
  pages		= {27-33},
  doi		= {10.1109/37.648626},
  note		= {cited By 31},
  url		= {https://www.scopus.com/inward/record.uri?eid=2-s2.0-0031996622&doi=10.1109%2f37.648626&partnerID=40&md5=e72f4564930b6623848d7e33ff27654c},
  document_type	= {Article},
  source	= {Scopus}
}