TY - JOUR T1 - A Spherical Active Joint for Humanoids and Humans JF - IEEE Robotics and Automation Letters Y1 - 2019 A1 - S. Mghames A1 - M. G. Catalano A1 - A. Bicchi A1 - G. Grioli VL - Volume: 4 , Issue: 2 , April 2019 ER -