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@INPROCEEDINGS{lopez2013avastt,
     author = {López-Martínez, Javier and Blanco, José-Luis and García-Vallejo, Daniel and Torres-Moreno, Jose-Luis and Giménez-Fernández, Antonio},
      title = {AVASTT: A New Variable Stiﬀness Actuator With Torque Threshold},
  booktitle = {ROBOT 2013},
       year = {2013},
  publisher = {Springer},
   location = {Madrid},
        url = {http://www.car.upm-csic.es/robot2013/},
        doi = {10.1007/978-3-319-03413-3_42}
}