Al-Mayahi W, Al-Fahaam H. A Novel Variable Stiffness Compound Extensor-Pneumatic Artificial Muscle (CE-PAM): Design and Mathematical Model. J Robot Control (JRC) [Internet]. 2023Jun.2 [cited 2025Sep.22];4(3):342-55. Available from: https://journal.umy.ac.id/index.php/jrc/article/view/18225