@conference {FSB07,
	title = {Variable Impedance Actuations for Physical Human Cooperating Robots: a Comparative Analysis of Performance, Safety and Dependability},
	booktitle = {Proc. IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments.},
	year = {2007},
	month = {April},
	abstract = {<p>An antagonistic actuation with variable stiffness is proposed for ensuring safety and performance in human friendly robotic applications. Various arrangements are analysed with respect to performance, safety and dependability. The results are expected to provide useful guidelines for choosing an actuation mechanism and its implementation for human-robot interactive applications.</p>
},
	keywords = {Robotics},
	author = {R. Filippini and S. Sen and A. Bicchi}
}
