Design and analysis of a novel variable stiffness actuator based on parallel-assembled-folded serial leaf springs - researchr publication authors

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S. S. Bi, C. Liu, H. Z. Zhao, Y. L. Wang. Design and analysis of a novel variable stiffness actuator based on parallel-assembled-folded serial leaf springs. Advanced Robotics, 31(18):990-1001, 2017. [doi]

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