# HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems

> Research article (IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3176269243](https://www.wikidata.org/wiki/openalex:W3176269243)  
**Source**: https://4ort.xyz/entity/hapfic-an-adaptive-force-position-controller-for-safe-environment-interaction-in-articulated-systems