TY - CONF T1 - Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load T2 - IEEE-RAS International Conference on Humanoid Robots Y1 - 2013 A1 - A. Velasco A1 - G M Gasparri A1 - M. Garabini A1 - L. Malagia A1 - P Salaris A1 - A. Bicchi KW - Robotics JF - IEEE-RAS International Conference on Humanoid Robots CY - Atlanta, Georgia, USA ER -