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A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties., , , , and . ISRR, volume 6 of Springer Tracts in Advanced Robotics, page 207-218. Springer, (2001)Soft robotics: what Cartesian stiffness can obtain with passively compliant, uncoupled joints?, , , , and . IROS, page 3295-3301. IEEE, (2004)Interactive redundant robotics: control of the inverted pendulum with nullspace motion., , and . IROS, page 158-164. IEEE, (2001)The fast research interface for the kuka lightweight robot, , and . IEEE Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications How to Modify and Enhance Commercial Controllers (ICRA 2010), page 15--21. Citeseer, (2010)Robust Assembly of Complex Shaped Planar Parts Using Vision and Force., , , and . MFI, page 493-500. IEEE, (2006)