@CONFERENCE{20155a3bb8f3e15aa, AUTHOR = {Gonzalez, Fr. and Bachta, W. and Gosselin, Fl. }, TITLE = {Smooth Transition-Based Control of Encounter-Type Haptic Devices.}, BOOKTITLE = {IEEE Int. Conf. on Robotics and Automation, ICRA'15. }, YEAR = {2015}, PAGES = {291-297}, PROJECT = {ISMES} }