Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds - Toward a Multijoint Manipulator for Laparoscopic Surgery. - Sousaku Kitano; Toshihiko Komatsuzaki; Ikuto Suzuki; Masamichi Nogawa; Hisashi Naito; Shinobu Tanaka (Frontiers Robotics AI, 2020)