Ramadhani, Y., L. Listyalina, and I. Buyung. “Design of an Arduino-Based CPM Elbow Actuator With Optocoupler Angle Sensor: Initial Study With Future Consideration for Rubber and Plastic Components”. Journal of Electrical Technology UMY, vol. 9, no. 1, June 2025, pp. 18-27, doi:10.18196/jet.v9i1.27611.