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An under actuated robotic arm with adjustable stiffness sha..:

, In: 2015 IEEE International Conference on Robotics and Automation (ICRA),
Firouzeh, Amir ; Mirrazavi Salehian, Seyed Sina ; Billard, Aude. - p. 2536-2543 , 2015
Link: https://doi.org/10.1109/ICRA.2015.7139539