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Worsnopp, T., M. A. Peshkin, K. M. Lynch, J. E. Colgate, and others, "Controlling the apparent inertia of passive human-interactive robots", Journal of dynamic systems, measurement, and control, vol. 128, pp. 44, 2006.
Hogan, N., J. E. Colgate, and others, The control of dynamically interacting systems, : Massachusetts Institute of Technology, 1988.