Sampled- and continuous-time passivity and stability of virtual environments

@article{Ryu2004SampledAC,
  title={Sampled- and continuous-time passivity and stability of virtual environments},
  author={Jee-Hwan Ryu and Yoon Sang Kim and Blake Hannaford},
  journal={IEEE Trans. Robotics},
  year={2004},
  volume={20},
  pages={772-776}
}
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