How can the programming of impedance control be simplified?

Bastidas Cruz, ArturoArturoBastidas CruzRadke, MarcelMarcelRadkeHaninger, KevinKevinHaningerKrüger, JörgJörgKrüger2023-12-222023-12-222021https://publica.fraunhofer.de/handle/publica/45826210.1016/j.procir.2020.05.236enRoboticImpedance controlHuman-robot collaborationactive complianceHow can the programming of impedance control be simplified?journal article