Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots. Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett, & Roger E. Goldman June 2017.
Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots [link]Paper  bibtex   
@patent{nabil_simaan_systems_2017,
	title = {Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots},
	url = {https://patents.google.com/patent/US20170182659A1/en},
	number = {US20170182659A1},
	urldate = {2018-10-29TZ},
	author = {{Nabil Simaan} and {Andrea Bajo} and {James L. Netterville} and {C. Gaelyn Garrett} and {Roger E. Goldman}},
	month = jun,
	year = {2017}
}
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