Definition: Compose a new way to ask the same question. The new question must be asking the exact same thing as the original question does. Without any other information, you should be able to tell that the original question and the new question are the same. Preserve bracketed phrases in your new question. You can change the rest of the question provided the above requirements are satisfied. The new question must have a natural, fluent formulation, as if it were composed by a native English speaker. You will be given three pieces of information to help you create better questions. Those are: "Answer": the answer to the question, e.g., "Honolulu". "Answer Type": the type of the answer, e.g., "Location". "Auxiliary Information" is a detailed description of some concepts mentioned in the question, if any.
Input: original question: Which written work has subject [Motion Control of Impedance-Type Haptic Devices]?
answer: improved multi-dof haptics with spring drive amplifiers
answer type: Written Work.
auxiliary information: Engineers in the Stanford Telerobotics Laboratory have developed a motion control system to improve the performance of haptic devices - either as a retrofit of existing devices or integrated into new designs.   By modifying the amplifiers that drive the electric motors, this technology enables higher feedback gains at higher frequencies for the same motor characteristics without additional sensors or other costs.  The system can be used for robotics or haptics to achieve a higher stiffness interface to the world and convey a more realistic sensation of contact.Related Technology  The conceptual framework for this system is described in ‚ÄúWave Haptics:  A Novel Approach to Impedance Control of DC Electric Motors‚Äù (Stanford Docket S05-375).Ongoing Research  The inventors are exploring power limiting techniques to protect the drive motors and varying impedance to improve the haptic display.

[Motion Control of Impedance-Type Haptic Devices] is the subject of what written work?