The following publications are possibly variants of this publication:
- MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hoppingBram Vanderborght, Nikolaos G. Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell. icra 2009: 544-549 [doi]
- Torsion MACCEPA: A novel compact compliant actuator designed around the drive axisRaphael Furnemont, Glenn Mathijssen, Tom van der Hoeven, Branko Brackx, Dirk Lefeber, Bram Vanderborght. icra 2015: 232-237 [doi]
- Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated RobotsWesley Roozing, Zeyu Ren, Nikos G. Tsagarakis. icra 2018: 1-8 [doi]