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The similarities between each of the proposed formulations are also highlighted. Finally, a transformation is presented that generalizes the methods of decoupling force from the position dynamics.<\/jats:p>","DOI":"10.1002\/rob.4620100406","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:28:40Z","timestamp":1183728520000},"page":"481-504","source":"Crossref","is-referenced-by-count":9,"title":["Review and unification of reduced\u2010order force control methods"],"prefix":"10.1002","volume":"10","author":[{"given":"M. T.","family":"Grabbe","sequence":"first","affiliation":[]},{"given":"J. J.","family":"Carroll","sequence":"additional","affiliation":[]},{"given":"D. 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