A.  De Luca, Flacco, F., Schiavi, R., and Bicchi, A., ?Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device?, in Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems, St. Louis MO USA, 2009, pp. 5487-5494. 

A.  Bicchi, Bavaro, M., Boccadamo, G., Carli, D. D., Filippini, R., Grioli, G., Piccigallo, M., Rosi, A., Schiavi, R., Sen, S., and Tonietti, G., ?Physical Human-Robot Interaction: Dependability, Safety, and Performance?, in Proc. 10th Intl. Workshop Advanced Motion Control, 2008, pp. 9-14. 

A.  De Santis, Siciliano, B., Luca, A. D., and Bicchi, A., ?An atlas of physical human-robot interaction?, Mechanism and Machine Theory, vol. 43, pp. 253-270, 2007. 

S.  Huh and Bien, Z., ?Robust sliding mode control of a robot manipulator based on variable structure-model reference adaptive control approach?, IET Control Theory Appl., vol. 1, p. -1363, 2007. 

G.  Tonietti, Schiavi, R., and Bicchi, A., ?Optimal Mechanical/Control Design for Safe and Fast Robotics?, in Experimental Robotics IX: The 9th International Symposium on Experimental Robotics, vol. 21, O. K.  Marcelo H. Ang, Ed. Springer Berlin / Heidelberg, 2006, pp. 311 - 320. 

G.  Boccadamo, Schiavi, R., Sen, S., Tonietti, G., and Bicchi, A., ?Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI?, in European Robotics Symposium 2006, vol. 22, H.  Christensen, Ed. Springer Berlin / Heidelberg, 2006, pp. 109 - 118. 

A.  Bicchi, Rizzini, L. S., and Tonietti, G., ?Compliant design for intrinsic safety: general issues and preliminary design?, in Proc. IEEE Int. Symp. Intelligent Robots and Systems, Maui, Hawaii, 2001, pp. 1864-1869. 

A.  Bicchi, Rizzini, L. S., and Tonietti, G., ?Compliant robot arm design for intrinsic safety?, in Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments, 2001, pp. 100-106. 

A.  Bicchi and Prattichizzo, D., ?Analysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems?, Robotica, vol. 18, pp. 23-31, 2000. 

P.  Dario, Bergamasco, M., Sabatini, A., Bicchi, A., and Buttazzo, G., ?Advanced Rehabilitative Robots?, in Proc. ISIR Int. Symposium and Exposition on Robots, Sydney, Australia, 1988.