Minimal Realization of an Arbitrary Spatial Stiffness Matrix with a Parallel Connection of Simple and Complex Springs

@article{Roberts2000MinimalRO,
  title={Minimal Realization of an Arbitrary Spatial Stiffness Matrix with a Parallel Connection of Simple and Complex Springs},
  author={Rodney G. Roberts},
  journal={IEEE Trans. Robotics and Automation},
  year={2000},
  volume={16},
  pages={603-608}
}