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Design and stiffness analysis of A class of 2-DoF tendon dr..:

Ma, Nan ; Yu, Jingjun ; Dong, Xin.
https://eprints.nottingham.ac.uk/53502/1/Design%20and%20Stiffness%20analysis%20of%20a%20class%20of%202-DoF%20tendon%20driven%20parallel._.pdf.  , 2018
Link: http://eprints.nottingham.ac.uk/53502/