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This paper discusses computational and experimental details necessary for successfully implementing and evaluating a wide variety of force control strategies. First, a review of both explicit force and impedance control strategies is provided. Second, the basic computational requirements of these schemes are discussed, and the hardware and timing information for our implementation is provided. Third, computational problems such as noise ltering and sampling rates are explained and discussed indoi:10.1007/bf01258316 fatcat:j3lmn2z3c5cf3bezdkydlvumru