# Human–Robot co-manipulation during surface tooling: A general framework based on impedance control, haptic rendering and discrete geometry

> Research article (Robotics and Computer-Integrated Manufacturing, 2020) · cited 38× · AI/ML

**Wikidata**: [openalex:W3046507844](https://www.wikidata.org/wiki/openalex:W3046507844)  
**Source**: https://4ort.xyz/entity/humanrobot-co-manipulation-during-surface-tooling-a-general-framework-based-on-impedance-control-haptic-rendering-and-di