J. F. Veneman, Ralf Ekkelenkamp, R. Kruidhof, Frans C. T. van der Helm, Herman van der Kooij. A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots. I. J. Robotic Res., 25(3):261-281, 2006. [doi]
Abstract is missing.