# Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment

> Research article (2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020) · cited 11× · AI/ML

**Wikidata**: [openalex:W3133097374](https://www.wikidata.org/wiki/openalex:W3133097374)  
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