@article {ATB12, title = {Tele-impedance: Teleoperation with Impedance Regulation Using a Body-Machine Interface}, journal = {International Journal of Robotics Research}, volume = { 31 }, year = {2012}, month = {11/2012}, pages = {1643 - 1656}, chapter = {1643}, keywords = {Robotics}, author = {A. Ajoudani and N G Tsagarakis and A. Bicchi} }