https://www.universitycube.net/urlref/https%3A%2F%2Fasmedigitalcollection.asme.org%2FIDETC-CIE%2Fproceedings-pdf%2Fdoi%2F10.1115%2FDETC2023-116618%2F7061393%2Fv03bt03a042-detc2023-116618.pdf