Dongming G, Tsagarakis NG, Dai JS, Caldwell DG, Seneviratne L. Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition. ASME Transactinos on Mechanisms Robotics. 2013 .

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Gan DM, Tsagarakis NG, Dai JS, Caldwell DG. Joint Stiffness Tuning for Compliant Robots: Protecting the Robot under Accidental Impacts. In: 13th World Congress in Mechanism and Machine Science,2011. 13th World Congress in Mechanism and Machine Science,2011. ; 2011. Available from: http://somim.org.mx/conference_proceedings/pdfs/A23/A23_501.pdf

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Gan DM, Tsagarakis NG, Dai JS, Caldwell DG. Stiffness Design Tuning for Compliant Robots: Protecting the Robot under Accidental Impacts. In: 13th World Congress in Mechanism and Machine Science. 13th World Congress in Mechanism and Machine Science. Washington, DC; 2011.

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