Kiyoshi Nagai, Yuichiro Dake, Yasuto Shiigi, Rui Loureiro, William S. Harwin. Design of Redundant Drive Joints with Double Actuation using springs in the second actuator to avoid excessive active torques. In IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010. pages 805-812, IEEE, 2010. [doi]
Abstract is missing.