Media type: E-Article Title: Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control Contributor: Kim, Min Jun; Werner, Alexander; Loeffl, Florian; Ott, Christian imprint: Institute of Electrical and Electronics Engineers (IEEE), 2022 Published in: IEEE Transactions on Robotics Language: Not determined DOI: 10.1109/tro.2021.3071617 ISSN: 1552-3098; 1941-0468 Keywords: Electrical and Electronic Engineering ; Computer Science Applications ; Control and Systems Engineering Origination: Footnote: