@conference {1434, title = {Human-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {4499 - 4505}, keywords = {Robotics}, doi = {10.1109/ICRA.2013.6631216 }, author = {A. Ajoudani and M Gabiccini and N G Tsagarakis and A. Bicchi} }