@article{Braglia24RAL,
	author={Braglia, G. and Calinon, S. and Biagiotti, L.},
	title={A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures},
	journal={{IEEE} Robotics and Automation Letters ({RA-L})},
	year={2024},
	volume={9}, 
	number={11},
	pages={10256--10263},
	DOI={10.1109/LRA.2024.3469814}
}