@misc{indiciaeab099af3c9a3,
  title = {Manipulability, force, and compliance analysis for planar continuum manipulators.},
  author = {Ian A Gravagne and Ian D Walker},
  year = {2002},
  doi = {10.1109/tra.2002.1019457},
  url = {https://pubmed.ncbi.nlm.nih.gov/12492083/},
  note = {Source identifier: 12492083}
}