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Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism

Amir Jafari, Nikos G. Tsagarakis, Darwin G. Caldwell. Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism. Industrial Robot, 42(3):242-251, 2015. [doi]

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