Figure1
![Improved impedance/admittance switching controller for the interaction with a variable stiffness environment](https://image.oaes.cc/61780cd8-2b38-4198-9741-1de0f866bda5/4985-1.jpg)
Figure 1. Qualitative complementarity of impedance and admittance controllers performance.
Figure 1. Qualitative complementarity of impedance and admittance controllers performance.
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