Novel passive Discrete Variable Stiffness Joint (pDVSJ): Modeling, design, and characterization. - Mohammad I. Awad; Dongming Gan; Ali Az-zu'bi; Jaideep Thattamparambil; Cesare Stefanini; Jorge Manuel Miranda Dias; Lakmal D. Seneviratne (ROBIO, 2016)

Design of A Novel Passive Binary-Controlled Variable Stiffness Joint (BpVSJ) Towards Passive Haptic Interface Application. - Mohammad I. Awad; Dongming Gan; Irfan Hussain; Ali Az-zu'bi; Cesare Stefanini; Kinda Khalaf; Yahya H. Zweiri; Jorge Dias 001; Lakmal D. Seneviratne (IEEE Access, 2018)