@article {1187761,
	title = {Safety oriented mechanism and control using ER fluid in the joint},
	journal = {Robotics and Automation},
	year = {1998},
	abstract = {Working robots with agents in the same place has become known by the expansion of the use of a remote control robot. For that reason, we need a safety system which prevents a robot from collision with an agent. An ER-joint realizes high-speed response and force-limiting mechanism at the same time. We apply these properties to an automatic safety mechanism to prevent a collision accident. Then we prove the stability of this system in the case of normal operations by Lyapunov{\textquoteright}s direct method, and apply the system to a micro-injector in order to show the effectiveness of the mechanism.},
	author = {F. Arai and A. Kawaji and T. Fukuda and H. Matsumura and H. Ota}
}
