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The paper focuses on design and joint impedance control of a new teleoperated robot arm enabling torque measurement in each joint by means of incorporation of devised optical torque sensors. When the contact of arm with an object occurs, joint impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. In the paper, we describe detailed design procedure of the 4-DOF robot arm anddoi:10.1109/roman.2007.4415205 dblp:conf/ro-man/TsetserukouTKKT07 fatcat:a5afkk7gefef7goh27zmsv4k6u