Submitted on: 02 January 2013.
Revised on: 16 February 2013.
Accepted on: 16 March 2013.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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Submitted on: 08 August 2013.
Revised on: 28 November 2013.
Accepted on: 18 January 2014.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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