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Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Safe manipulator\/task interaction is defined and quantified based on interaction forces resulting from manipulator motion commands.<jats:italic>H<\/jats:italic><jats:sup>1<\/jats:sup>and<jats:italic>H<\/jats:italic><jats:sup>***<\/jats:sup>safety bounds are introduced for evaluation of compliance control designs deriving from any control architecture or design method. Compliance control design examples are presented to demonstrate the use of these bounds, and to demonstrate the need to consider safety bounds of the type proposed. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110806","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T16:22:47Z","timestamp":1183738967000},"page":"725-741","source":"Crossref","is-referenced-by-count":0,"title":["Compliance control safety: An architecture\u2010independent analysis"],"prefix":"10.1002","volume":"11","author":[{"given":"Dale A.","family":"Lawrence","sequence":"first","affiliation":[]},{"given":"Jim D.","family":"Chapel","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"M. H.RaibertandJ. J.Craig \u201cHybrid position\/force control of manipulators \u201d J. Dyn. Syst. Meas. Control Trans. 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