# Harmonious Cable Actuation Mechanism for Soft Robot Joints Using a Pair of Noncircular Pulleys

> Research article (Journal of Mechanisms and Robotics, 2018) · cited 28× · AI/ML

**Wikidata**: [openalex:W2885216227](https://www.wikidata.org/wiki/openalex:W2885216227)  
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