# Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions

> Research article (IEEE Transactions on Robotics, 2018) · cited 90× · AI/ML

**Wikidata**: [openalex:W2894852016](https://www.wikidata.org/wiki/openalex:W2894852016)  
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