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A Compact, Two-Part Torsion Spring Architecture:

, In: 2023 IEEE International Conference on Robotics and Automation (ICRA),
Bons, Zachary ; Thomas, Gray C. ; Mooney, Luke M.. - p. 7461-7467 , 2023
Link: https://doi.org/10.1109/ICRA48891.2023.10161174