Irawan, A., Azahar, M. I. P., & Pebrianti, D. (2022). Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator. Journal of Robotics and Control (JRC), 3(5), 716–724. https://doi.org/10.18196/jrc.v3i5.16316