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A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints

Simon Lemerle, Manuel G. Catalano, Antonio Bicchi, Giorgio Grioli. A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints. Front. Robotics and AI, 8:614145, 2021. [doi]

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