Le, Luc Tien. “Passive Friction Compensation Using a Nonlinear Disturbance Observer for Flexible Joint Robots With Joint Torque Measurements”. <i>Journal of Computer Science and Cybernetics</i> 35, no. 1 (March 18, 2019): 85–103. Accessed January 2, 2026. https://vjs.ac.vn/jcc/article/view/13147.