https://www.universitycube.net/urlref/http%3A%2F%2Fasmedigitalcollection.asme.org%2FIDETC-CIE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FDETC2019-97673%2F6454295%2Fv008t10a002-detc2019-97673.pdf