A spherical parallel mechanism based rotary variable stiffness actuatorErgin, Alper Mehmet and Patoğlu, Volkan (2011) A spherical parallel mechanism based rotary variable stiffness actuator. In: 2011 ECCOMAS Thematic Conference on Multibody Dynamics, Brussels, Belgium Full text not available from this repository. Official URL: http://www.multibody2011.org/
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