@article{oai:repository.dl.itc.u-tokyo.ac.jp:00000457, author = {荒井, 裕彦 and 舘, 暲}, issue = {3}, journal = {日本ロボット学会誌}, month = {Jun}, note = {application/pdf}, pages = {209--219}, title = {直接駆動マニピュレータの人力操作における操作力検出と能動的力補助}, volume = {4}, year = {1986} }