Biologically Inspired Joint Stiffness Control. - Shane A. Migliore; Edgar A. Brown; Stephen P. DeWeerth (ICRA, 2005)

Passive joint stiffness in the hip and knee increases the energy efficiency of leg swinging. - Shane A. Migliore; Lena H. Ting; Stephen P. DeWeerth (Auton. Robots, 2010)