A nonlinear series elastic actuator for highly dynamic motions. - Ivar Thorson; Darwin G. Caldwell (IROS, 2011)

MACCEPA 2.0: compliant actuator used for energy efficient hopping robot Chobino1D. - Bram Vanderborght; Nikolaos G. Tsagarakis; Ronald Van Ham; Ivar Thorson; Darwin G. Caldwell (Auton. Robots, 2011)