# uMan: A Low-Impedance Manipulator for Human–Robot Cooperation Based on Underactuated Redundancy

> Research article (IEEE/ASME Transactions on Mechatronics, 2017) · cited 50× · AI/ML

**Wikidata**: [openalex:W2575763268](https://www.wikidata.org/wiki/openalex:W2575763268)  
**Source**: https://4ort.xyz/entity/uman-a-low-impedance-manipulator-for-humanrobot-cooperation-based-on-underactuated-redundancy