Energetic Advantages of Constant Torque Springs in Series Parallel Elastic Actuators. - Elias Saerens; Raphaël Furnemónt; Vincent Ducastel; Stein Crispel; Bram Vanderborght; Dirk Lefeber (AIM, 2019)

Scaling laws for parallel motor-gearbox arrangements. - Elias Saerens; Stein Crispel; Pablo López-García; Vincent Ducastel; Jarl Beckers; Joris De Winter; Raphaël Furnemónt; Bram Vanderborght; Tom Verstraten; Dirk Lefeber (IROS, 2020)

Compact Gearboxes for Modern Robotics: A Review. - Pablo López-García; Stein Crispel; Elias Saerens; Tom Verstraten; Dirk Lefeber (Frontiers Robotics AI, 2020)

R2poweR: The Proof-of-Concept of a Backdrivable, High-Ratio Gearbox for Human-Robot Collaboration. - Pablo López-García; Stein Crispel; A. Varadharajan; Elias Saerens; Tom Verstraten; Bram Vanderborght; Dirk Lefeber (ICRA, 2022)