For citations:

Malov M.S., Musalimov V.M., Lovlin S.Yu. Application of Elastic Actuators with Torsion Spring of Variable Stiffness in Robotic Rehabilitation Devices. Journal of Instrument Engineering. 2022;65(7):527-534. (In Russ.) https://doi.org/10.17586/0021-3454-2022-65-7-527-534