# A Control Scheme for Physical Human-Robot Interaction Coupled with an Environment of Unknown Stiffness

> Research article (Journal of Intelligent & Robotic Systems, 2020) · cited 29× · AI/ML

**Wikidata**: [openalex:W3011734990](https://www.wikidata.org/wiki/openalex:W3011734990)  
**Source**: https://4ort.xyz/entity/a-control-scheme-for-physical-human-robot-interaction-coupled-with-an-environment-of-unknown-stiffness