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Cited article:

Optimal Variable Stiffness Control and Its Applications in Bionic Robotic Joints: A Review

Yuanxi Sun, Yuntao Tang, Jia Zheng, Dianbiao Dong and Long Bai
Journal of Bionic Engineering 20 (2) 417 (2023)
https://doi.org/10.1007/s42235-022-00278-x