Masafumi Okada Yoshihiko Nakamura Shigeki Ban Design of Programmable Passive Compliance for Humanoid Shoulder. 31-40 http://link.springer.de/link/service/series/0642/bibs/1271/12710031.htm 2000 conf/iser/2000 ISER db/conf/iser/iser2000.html#OkadaNB00