IRAWAN, A.; AZAHAR, M. I. P.; PEBRIANTI, D. 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), [S. l.], v. 3, n. 5, p. 716–724, 2022. DOI: 10.18196/jrc.v3i5.16316. Disponível em: https://journal.umy.ac.id/index.php/jrc/article/view/16316. Acesso em: 2 sep. 2025.