@INPROCEEDINGS{5695720, author={T. Würtz and C. May and B. Holz and C. Natale and G. Palli and C. Melchiorri}, booktitle={2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics}, title={The twisted string actuation system: Modeling and control}, year={2010}, volume={}, number={}, pages={1215-1220}, keywords={DC motors;feedback;robots;vibration control;twisted string actuation system;compact robotic devices;light-weight robotic devices;artificial hands;DC motors;mass-spring-damper system;second-order sliding manifold;output-feedback controller;DC motors;Force;Load modeling;Robots;Robustness;Polynomials;Torque;Actuation;Tendons;Transmission System;Robotic Hands}, doi={10.1109/AIM.2010.5695720}, ISSN={2159-6247}, month={July},}