Fig. 8From: Stiff and safe task-space position and attitude controller for robotic manipulatorsSituations of Experiment III. a The robot is moved by the experimenter’s hand under cN1. b The robot is moved by the experimenter’s hand under cSPID. Both (a, b) are with the initial configuration F, which is \(({\varvec{p}}_d=[0.38, 0.13, 0.44]^T\mathrm {m},\tilde{{\varvec{\alpha }}}_d=[-0.157, 0.515, -0.078]^T)\)Back to article page