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This work was supported by National Natural Science Foundation of China (Grant Nos. 51475322, 51535008, 51775367, 51721003), Tianjin Municipal Science and Technology Department Program (Grant No. 17JCZDJC30300), and International Collaboration Programme (111 Program) (Grant No. B16034).
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Zhao, Y., Song, Z., Ma, T. et al. A stiffness-adaptive control system for nonlinear stiffness actuators. Sci. China Inf. Sci. 62, 50210 (2019). https://doi.org/10.1007/s11432-018-9666-y