A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity. - Kyle L. Walker; Alix J. Partridge; Hsing-Yu Chen; Rahul R. Ramachandran; Adam A. Stokes; Kenjiro Tadakuma; Lucas Cruz Da Silva; Francesco Giorgio-Serchi (ICRA, 2024)