Figure3
![Improved impedance/admittance switching controller for the interaction with a variable stiffness environment](https://image.oaes.cc/61780cd8-2b38-4198-9741-1de0f866bda5/4985-3.jpg)
Figure 3. Convergence of the proposed iterative switching method considering the error
Figure 3. Convergence of the proposed iterative switching method considering the error
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