External Joint Torques Estimation for a Position-Controlled Manipulator Employing an Extended Kalman Filter. - Loris Roveda; Daniele Riva; Giuseppe Bucca; Dario Piga (UR, 2021)

Sensorless Optimal Switching Impact/Force Controller. - Loris Roveda; Daniele Riva; Giuseppe Bucca; Dario Piga (IEEE Access, 2021)