Date of download: 7/31/2017
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From: Synthesis and Analysis of Soft Parallel Robots Comprised of Active Constraints
J. Mechanisms Robotics. 2015;7(1):011002-011002-13. doi:10.1115/1.4029324
Figure Legend:
AFS (a), PFS that satisfies conditions (b), its constraint space (c), topology selected from that space (d), and tuned parameters (e)