2022-03-022022-03-022014978-1-4799-3126-2978-1-4799-3129-3978-1-4799-3128-6https://publica.fraunhofer.de/handle/publica/1578875th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. Vol.2