@conference {CGGBB11, title = {VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5090 - 5095}, address = {Shangai, China}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and M. Garabini and F. Bonomo and M. Mancini and N G Tsagarakis and A. Bicchi} }