TO, D. A. K.; CHAU, H. P.; NGUYEN, V. L. Design of a variable stiffness actuator based on a multi-pulley system with a spring. Vietnam Journal of Mechanics, Hanoi, Vietnam, v. 46, n. 3, p. 229–239, 2024. DOI: 10.15625/0866-7136/21024. Disponível em: https://vjs.ac.vn/index.php/vjmech/article/view/21024. Acesso em: 10 apr. 2025.