@conference {CSB-ICRA10, title = {Design for Variable Stiffness Actuation based on Enumeration and Analysis of Performance}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {3285 - 3291}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and R. Schiavi and A. Bicchi} }