@conference {1987,
	title = {Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load},
	booktitle = {IEEE-RAS International Conference on Humanoid Robots},
	year = {2013},
	address = {Atlanta, Georgia, USA},
	keywords = {Robotics},
	author = {A. Velasco and G M Gasparri and M. Garabini and L. Malagia and P Salaris and A. Bicchi}
}
