# A Miniature Manipulator With Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 53× · AI/ML

**Wikidata**: [openalex:W3138146008](https://www.wikidata.org/wiki/openalex:W3138146008)  
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