%0 Conference Paper %B 2011 IEEE International Conference on Robotics and Automation %D 2011 %T A decoupled Impedance observer for a Variable Stiffness Robot %A A. Serio %A G. Grioli %A I. Sardellitti %A N G Tsagarakis %A A. Bicchi %K Robotics %B 2011 IEEE International Conference on Robotics and Automation %C Shangai, China %P 5548 - 5553 %8 May 9 - 13 %G eng