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Kim, Chi Yen; Lee, Min Cheol; Wicker, Ryan Blaine; Yoon, Sung-Min . (2014). Dynamic modeling of coupled tendon-driven system for surgical robot instrument. International Journal of Precision Engineering and Manufacturing, 15(10), 2077–2084. doi:10.1007/s12541-014-0566-8 
An interview with Sci-Hub Founder Alexandra Elbakyan,Who exactly should pay for academic research