Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control. - J. R. Jurado Realpe; Salih Abdelaziz; Philippe Poignet (ARK, 2020)

Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation*. - J. R. Jurado Realpe; Guillaume Aiche; Salih Abdelaziz; Philippe Poignet (ICRA, 2020)