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Xiang, Chaoqun, Giannaccini, ME, Theodoridis, T, Nefti-Meziani, S and Davis, ST ORCID: https://orcid.org/0000-0002-4365-5619 2016, 'Variable stiffness McKibben muscles with hydraulic and pneumatic operating modes' , Advanced Robotics, 30 (13) , pp. 889-899.
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