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Submitted on: 04 January 2000.
Revised on: 30 March 2000.
Accepted on: 11 April 2000.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
Submitted on: 02 July 2009.
Revised on: 05 August 2009.
Accepted on: 04 September 2009.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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Submitted on: 24 September 2019.
Revised on: 18 December 2019.
Accepted on: 09 January 2020.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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Submitted on: 07 August 2002.
Revised on: 31 August 2002.
Accepted on: 25 October 2002.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
Submitted on: 30 January 2023.
Revised on: 27 April 2023.
Accepted on: 09 May 2023.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME