"Design and Control of Anthropomorphic BIT Soft Arms for TCM Remedial Massage," by Yuancan Huang, Jian Li, Qiang Huang, and Changxin Liu, from CNRS/LAAS, Beijing Institute of Technology, and Beijing University of Chinese Medicine. Presented at 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.
