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"The Development of a Direct Drive Master Arm."
Tetsuo Kotoku et al. (1990)
- Tetsuo Kotoku, Erhard J. Hüsler, Kazuo Tanie, Akio Fujikawa:

The Development of a Direct Drive Master Arm. J. Robotics Mechatronics 2(6): 463-470 (1990)

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