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. 2019 May 17;13:20. doi: 10.3389/fnbot.2019.00020

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Copyright © 2019 Rodriguez-Cianca, Weckx, Jimenez-Fabian, Torricelli, Gonzalez-Vargas, Sanchez-Villamañan, Sartori, Berns, Vanderborght, Pons and Lefeber.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Schematics of the MACCEPA: (A) conventional design showing the elastic element spanning the actuated joint and (B) novel concept showing the elastic element housed in the reference body (Link 1).