@ARTICLE{j.medina2016decoupledcontrolof,
TITLE = {Decoupled control of a variable stiffness actuator for assistive robots},
JOURNAL = {RIAI},
VOLUME = {13},
NUMBER = {1},
PAGES = {80 - 91},
YEAR = {2016},
AUTHOR = {J. Medina, A. Jardon, C. Balaguer}
}