A systematic analysis of spring symmetry on optimality of antagonistic variable stiffness actuation. - Abdullah Kamadan; Güllü Kiziltas; Volkan Patoglu (IROS, 2017)

A Systematic Design Selection Methodology for System-Optimal Compliant Actuation. - Abdullah Kamadan; Güllü Kiziltas; Volkan Patoglu (Robotica, 2019)