# Smooth Human Interaction Control using Torsion Torque Controller and Motor-side Normalization Compensator Focusing on Back-forward Drivability

> Research article (IEEJ Journal of Industry Applications, 2019) · cited 32× · AI/ML

**Wikidata**: [openalex:W2919943292](https://www.wikidata.org/wiki/openalex:W2919943292)  
**Source**: https://4ort.xyz/entity/smooth-human-interaction-control-using-torsion-torque-controller-and-motor-side-normalization-compensator-focusing-on-ba