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- 02:14, 21 March 2008 JamesYeung talk contribs uploaded File:Progstiffjointtorquecompdiag.jpg
- 23:13, 20 March 2008 EricNickel talk contribs uploaded File:Progstiffjointtorquecompdiag.jpg (Diagram showing the variables used to compute the torque for the variable stiffness joint)