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Derivation and verification of synergy coordinates for the DLR hand arm system., , and . CASE, page 454-460. IEEE, (2012)"FRCEF: The new friction reduced and coupling enhanced finger for the Awiwi hand"., , , and . Humanoids, page 140-147. IEEE, (2015)Impedance control of a non-linearly coupled tendon driven thumb., , , , and . IROS, page 4215-4221. IEEE, (2011)A structurally flexible humanoid spine based on a tendon-driven elastic continuum., , and . ICRA, page 4714-4721. IEEE, (2016)The DLR C-runner: Concept, design and experiments., , , , , , , , , and 1 other author(s). Humanoids, page 758-765. IEEE, (2016)An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation., , , and . IEEE Robotics Autom. Lett., 5 (3): 3876-3883 (2020)A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement., , , , and . IEEE Robotics Autom. Lett., 7 (1): 9-16 (2022)Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model., , , , and . IEEE Robotics Autom. Lett., 4 (4): 3425-3432 (2019)Modellbasierte Berechnung der Kontaktkräfte an einem elastischen Tastsensor., , , , and . Automatisierungstechnik, 63 (8): 656-664 (2015)Guiding effects and friction modeling for tendon driven systems., , , and . ICRA, page 6726-6732. IEEE, (2014)