Development of an optical sensor based torque regulation system with friction observer. - Chang Wei; Wei Wang 066; Chiahao Kuo; Quanhe Li; Shigeki Sugano (SII, 2017)

Large Range Impedance Shaping for Physical Human Robot Interaction Through Light Quantity Measurement Based Torque Regulation. - Wei Wang 066; Chang Wei; Yuki Suga; Chiahao Kuo; Alexander Schmitz; Shigeki Sugano (IEEE Robotics Autom. Lett., 2018)