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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Jan 28;5(2):1712–1719. doi: 10.1109/lra.2020.2969934

Fig. 8:

Fig. 8:

(a) The nested joint model in FEM simulation and (b) FEM result.