Synthesis of a non-circular cable spool to realize a nonlinear rotational spring. - Nicolas Schmit; Masafumi Okada (IROS, 2011)

Simultaneous optimization of robot trajectory and nonlinear springs to minimize actuator torque. - Nicolas Schmit; Masafumi Okada (ICRA, 2012)

Design and Realization of a Non-Circular Cable Spool to Synthesize a Nonlinear Rotational Spring. - Nicolas Schmit; Masafumi Okada (Adv. Robotics, 2012)

Optimal design of nonlinear springs in robot mechanism: simultaneous design of trajectory and spring force profiles. - Nicolas Schmit; Masafumi Okada (Adv. Robotics, 2013)