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2013
B. Han, Zoppi, M., and Molfino, R. M., Method for adapting stiffness in a variable stiffness actuator. USA Pat. Application, 2013.
2014
S. Lu, Zlatanov, D., Ding, X., Molfino, R. M., and Zoppi, M., “Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units”, in Advances in Robot Kinematics 2014, 2014, pp. 517–525.

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