# A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

> Research article (Robotics and Autonomous Systems, 2022) · cited 17× · AI/ML

**Wikidata**: [openalex:W4214854542](https://www.wikidata.org/wiki/openalex:W4214854542)  
**Source**: https://4ort.xyz/entity/a-passive-admittance-controller-to-enforce-remote-center-of-motion-and-tool-spatial-constraints-with-application-in-hand