An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery. Ferraguti, F., Preda, N., Manurung, A., Bonfè, M., Lambercy, O., Gasser, R., Muradore, R., Fiorini, P., & Secchi, C. Transactions on Robotics, 2015.
bibtex   
@Article{ferragutiTRO2015,
author = {Ferraguti, F. and Preda, N. and Manurung, A. and Bonf{\`e}, M. and Lambercy, O. and Gasser, R. and Muradore, R. and Fiorini, P. and Secchi, C.},
title = {An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery},
journal = {Transactions on Robotics},
year = {2015},
volume = {31},
number={5},
}

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