@conference {GB11,
	title = {A Real-time Parametric Stiffness Observer for VSA devices},
	booktitle = {2011 IEEE International Conference on Robotics and Automation},
	year = {2011},
	month = {May 9 - 13},
	pages = {5535 - 5540},
	address = {Shangai, China},
	keywords = {Robotics},
	author = {G. Grioli and A. Bicchi}
}
