Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet. Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation.
ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888,
⟨10.1109/ICRA40945.2020.9197507⟩.
⟨lirmm-03140522⟩