https://www.universitycube.net/urlref/https%3A%2F%2Fasmedigitalcollection.asme.org%2FIDETC-CIE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FDETC2021-68456%2F6800736%2Fv010t10a007-detc2021-68456.pdf