@article {PfefferKH:1989,
	title = {{Joint Torque Sensory Feedback in the Control of a PUMA Manipulator}},
	journal = {IEEE Transactions on Robotics and Automation},
	volume = {5},
	number = {4},
	year = {1989},
	month = {August},
	pages = {418-425},
	author = {Lawrence E. Pfeffer and Oussama Khatib and John Hake}
}
