@inproceedings{, author = {Hoeppner, H. and Wiedmeyer, W and van der Smagt, Patrick}, title = {A new biarticular joint mechanism to extend stiffness ranges}, booktitle = {Robotics and Automation (ICRA), 2014 IEEE International Conference on}, year = {2014}, doi = {10.1109/ICRA.2014.6907349}, }