https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIDETC-CIE%2Fproceedings-pdf%2Fdoi%2F10.1115%2F96-DETC%2FDAC-1600%2F6644842%2Fv003t03a063-96-detc-dac-1600.pdf