TY - CONF T1 - A decoupled Impedance observer for a Variable Stiffness Robot T2 - 2011 IEEE International Conference on Robotics and Automation Y1 - 2011 A1 - A. Serio A1 - G. Grioli A1 - I. Sardellitti A1 - N G Tsagarakis A1 - A. Bicchi KW - Robotics JF - 2011 IEEE International Conference on Robotics and Automation CY - Shangai, China ER -