The role of damping and low pass filtering in the stability of discrete time implemented robot force control. - H. P. Qian; Joris De Schutter (ICRA, 1992)

Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact. - H. P. Qian; Joris De Schutter (ICRA, 1992)

Generalized Acceleration Control of Robot Manipulators with Nonlinear Active Damping. - H. P. Qian; Joris De Schutter (ICRA (2), 1993)