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Torque amplification using a cable driven multi-pulley mech..:

, In: Proceedings of the 2023 6th International Conference on Advances in Robotics,
Shinde, Akshayraj B ; Gandhi, Neel Parimal ; Bhardwaj, Siddharth. - p. 1-6 , 2023
Link: https://dl.acm.org/doi/10.1145/3610419.3610485