@article{moon_crane_roberts_2012, title={Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism}, volume={4}, DOI={10.1115/1.4005531}, number={1}, journal={Journal of Mechanisms and Robotics}, author={Moon, Youngjin and Crane, Carl D. and Roberts, Rodney G.}, year={2012}, pages={011004}}