Smoothing curvature and torsion with spring splines.

P. H. Wagner X. Luo K. A. Stelson Smoothing curvature and torsion with spring splines. 615-626 1995 27 Computer-Aided Design 8 http://dx.doi.org/10.1016/0010-4485(95)99798-D db/journals/cad/cad27.html#WagnerLS95