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Characteristics of controllable stiffness for cable-driven parallel robots
CUI Zhiwei, TANG Xiaoqiang, HOU Senhao, XIANG Chengyuan
Journal of Tsinghua University(Science and Technology) . 2018, (2): 204 -211 .  DOI: 10.16511/j.cnki.qhdxxb.2018.26.010

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