@conference {CSB-ICRA10,
	title = {Design for Variable Stiffness Actuation based on Enumeration and Analysis of Performance},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)},
	year = {2010},
	month = {May 3 - 8},
	pages = {3285 - 3291},
	address = {Anchorage, Alaska},
	keywords = {Embedded Control, Robotics},
	author = {M. G. Catalano and R. Schiavi and A. Bicchi}
}
