# A Variable-Stiffness Planning Method Considering Both the Overall Configuration and Cable Tension for Hyper-Redundant Manipulators

> Research article (IEEE/ASME Transactions on Mechatronics, 2023) · cited 24× · AI/ML

**Wikidata**: [openalex:W4383960459](https://www.wikidata.org/wiki/openalex:W4383960459)  
**Source**: https://4ort.xyz/entity/a-variable-stiffness-planning-method-considering-both-the-overall-configuration-and-cable-tension-for-hyper-redundant-ma