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On the application of RRSS motion generation and RRSS Axode..:

D'Alessio, Jerry ; Russell, Kevin ; Lee, Wen-Tzong.
Mechanics Based Design of Structures and Machines.  45 (2016)  3 - p. 406-414 , 2016
Link: https://doi.org/10.1080/15397734.2016.1218289