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Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots., and . CDC, page 4548-4553. IEEE, (2014)Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints)., , , and . Automatisierungstechnik, 58 (9): 499-511 (2010)Friction observer and compensation for control of robots with joint torque measurement., , , and . IROS, page 3789-3795. IEEE, (2008)MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling., , and . ICRA, page 3824-3830. IEEE, (2007)DLR MiroSurge: a versatile system for research in endoscopic telesurgery., , , , , , , , , and 6 other author(s). Int. J. Comput. Assist. Radiol. Surg., 5 (2): 183-193 (2010)Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints., and . IROS, page 1149-1154. IEEE, (2012)Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters., and . IEEE Trans. Contr. Sys. Techn., 26 (6): 2259-2267 (2018)Decoupling and tracking control for elastic joint robots with coupled joint structure., and . Adv. Robotics, 31 (4): 184-203 (2017)A Hands-on-robot for Accurate Placement of Pedicle Screws., , , , , , , , , and 1 other author(s). ICRA, page 4179-4186. IEEE, (2006)