%0 Conference Paper %B IEEE-RAS International Conference on Humanoid Robots %D 2013 %T Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load %A A. Velasco %A G M Gasparri %A M. Garabini %A L. Malagia %A P Salaris %A A. Bicchi %K Robotics %B IEEE-RAS International Conference on Humanoid Robots %C Atlanta, Georgia, USA