Intrinsically passive force scaling in haptic interfaces. Secchi, C., Stramigioli, S., & Fantuzzi, C. In International Conference on Intelligent Robots and Systems, IROS 2006, pages 2121–2126, Beijing (China), October~9–15, 2006.
bibtex   
@InProceedings{secchi-et-al:IROS-b:2006,
  author = 	 {Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare},
  title = 	 {Intrinsically passive force scaling in haptic interfaces},
  booktitle = 	 {International Conference on Intelligent Robots and
                  Systems, IROS 2006},
  year =	 2006,
  pages = {2121--2126},
  address =	 {Beijing (China)},
  month =	 oct # "~9--15",
  ID = 200610
}

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