@article{Ma_2026,
  title={{An Energy-Based Approach to the Force-Impedance Control Problem for Robot Manipulators}},
  volume={34},
  ISSN={2374-0159},
  DOI={10.1109/tcst.2025.3606519},
  number={1},
  journal={IEEE Transactions on Control Systems Technology},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Ma, Haojun and Muñoz-Arias, Mauricio and Scherpen, Jacquelien M. A. and Macchelli, Alessandro},
  year={2026},
  pages={123--138}
}