@article {3641,
	title = {A Spherical Active Joint for Humanoids and Humans},
	journal = {IEEE Robotics and Automation Letters},
	volume = {Volume: 4 , Issue: 2 , April 2019},
	year = {2019},
	month = {01/2019},
	author = {S. Mghames and M. G. Catalano and A. Bicchi and G. Grioli}
}
