Human-robot collision model with effective mass and manipulability for design of a spatial manipulator

@article{Lee2013HumanrobotCM,
  title={Human-robot collision model with effective mass and manipulability for design of a spatial manipulator},
  author={Sang-Duck Lee and Byeong-Sang Kim and Jae-Bok Song},
  journal={Advanced Robotics},
  year={2013},
  volume={27},
  pages={189-198}
}

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