https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIDETC-CIE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FDETC2013-12785%2F4257989%2Fv004t08a040-detc2013-12785.pdf