@misc{indiciae3bbe5f98d369,
  title = {Workspace Safe Operation of a Force- or Impedance-Controlled Robot},
  author = {Abdallah, Muhammad E. and Hargrave, Brian and Yamokoski, John D. and Strawser, Philip A.},
  year = {2013},
  url = {https://ntrs.nasa.gov/citations/20140016591},
  note = {Source identifier: 20140016591}
}