@article {kim2014design,
	title = {Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism},
	journal = {Journal of Mechanisms and Robotics},
	volume = {6},
	number = {4},
	year = {2014},
	pages = {041009},
	publisher = {American Society of Mechanical Engineers},
	author = {Kim, Bongsu and Deshpande, Ashish D.}
}
