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Circular Pulley Versus Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis

Dongjun Shin, Xiyang Yeh, Oussama Khatib. Circular Pulley Versus Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis. IEEE Transactions on Robotics, 29(3):766-774, 2013. [doi]

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