Furthermore, the adaptive force and position controllers have learning capabilities to cope with unpredictable changes in {HEAD ~ the manipulator or environment parameters} such as environment or {TAIL ~ robotic arm stiffness} 
such as
Furthermore , the adaptive force and position controllers have learning capabilities to cope with unpredictable changes in { HEAD ~ the manipulator or environment parameters } such as environment or { TAIL ~ robotic arm stiffness }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL