Minimal realization of a spatial stiffness matrix with simple springs connected in parallel

@article{Roberts1999MinimalRO,
  title={Minimal realization of a spatial stiffness matrix with simple springs connected in parallel},
  author={Rodney G. Roberts},
  journal={IEEE Trans. Robotics and Automation},
  year={1999},
  volume={15},
  pages={953-958}
}
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