Dynamic Modeling and Analysis of a Transmission-Based Robot Servoactuator. - William R. Hamel; Sewoong Kim; Renbin Zhou; Arnold Lumsdaine (ICRA, 2003)

Design and Testing of a Prototype Transmission-based Robot Servoactuator. - William R. Hamel; Sewoong Kim; Renbin Zhou; Arnold Lumsdaine (ICRA, 2004)