@conference {SGSTB11,
	title = {A decoupled Impedance observer for a Variable Stiffness Robot},
	booktitle = {2011 IEEE International Conference on Robotics and Automation},
	year = {2011},
	month = {May 9 - 13},
	pages = {5548 - 5553},
	address = {Shangai, China},
	keywords = {Robotics},
	author = {A. Serio and G. Grioli and I. Sardellitti and N G Tsagarakis and A. Bicchi}
}
