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Dynamic modelling and control of variable stiffness actuators., , , , , and . ICRA, page 2155-2162. IEEE, (2010)Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance., , , , , , , , , and 1 other author(s). ISRR, volume 70 of Springer Tracts in Advanced Robotics, page 185-207. Springer, (2009)Overview of the torque-controlled humanoid robot TORO., , , , , , , , , and 1 other author(s). Humanoids, page 916-923. IEEE, (2014)Joint-Level Control of the DLR Lightweight Robot SARA., , , , , and . IROS, page 8903-8910. IEEE, (2020)On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint., , , , and . ICRA, page 1687-1694. IEEE, (2010)The DLR hand arm system., , , , , , , , , and 11 other author(s). ICRA, page 3175-3182. IEEE, (2011)The DLR FSJ: Energy based design of a variable stiffness joint., , and . ICRA, page 5082-5089. IEEE, (2011)Variable impedance actuators: A review., , , , , , , , , and 15 other author(s). Robotics Auton. Syst., 61 (12): 1601-1614 (2013)New insights concerning intrinsic joint elasticity for safety., , , and . IROS, page 2181-2187. IEEE, (2010)DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control)., , , , , , , , , and 1 other author(s). Autom., 58 (11): 622-629 (2010)