M. Azadi, S. Behzadipour, and G. Faulkner, Antagonistic variable stiffness elements, Mech. Mach. Theory, vol.44, issue.9, pp.1746-1758, 2009.
DOI : 10.1016/j.mechmachtheory.2009.03.002

B. Vanderborght, A. Albu-schaeffer, A. Bicchi, E. Burdet, D. Caldwell et al., Variable impedance actuators: a review, Robot. Autonom. Syst, vol.61, issue.12, pp.1601-1614, 2013.
DOI : 10.1016/j.robot.2013.06.009

M. Azadi, S. Behzadipour, and G. Faulkner, Variable stiffness spring using tensegrity prisms, ASME J. Mech. Robot, vol.2, issue.4, p.41001, 2010.
DOI : 10.1115/1.4001776

N. Ciblak and H. Lipkin, Synthesis of cartesian stiffness for robotic applications, Proceedings. 1999 IEEE International Conference on, vol.3, pp.2147-2152, 1999.

A. Albu-schäffer and A. Bicchi, Actuators for soft robotics, Springer Handbook of Robotics, pp.499-530, 2016.

S. A. Migliore, E. A. Brown, and S. P. Deweerth, Biologically inspired joint stiffness control, Robotics and Automation, 20 05. ICRA 20 05. Proceedings of the 2005 IEEE International Conference on, pp.4508-4513, 2005.
DOI : 10.1109/robot.2005.1570814

D. Chakarov, A study of the antagonistic stiffness of parallel manipulators, 44. Int. Scientific Colloquium TU of Ilmenau, Sept, vol.2, 1999.

H. Shin, S. Lee, J. I. Jeong, and J. Kim, Antagonistic stiffness optimization of redundantly actuated parallel manipulators in a predefined workspace, Mechatr. IEEE ASME Trans, vol.18, issue.3, pp.1161-1169, 2013.

S. Behzadipour and A. Khajepour, Stiffness of cable-based parallel manipulators with application to stability analysis, ASME J. Mech. Design, vol.128, issue.1, pp.303-310, 2006.

N. Ciblak and H. Lipkin, Design and analysis of remote center of compliance structures, J. Robot. Syst, vol.20, issue.8, pp.415-427, 2003.

?. Havlik, Passive compliant mechanisms for robotic (micro) devices, 13th World Congress in Mechanism and Machine Science, pp.1-7, 2011.

R. Roberts, Minimal realization of a spatial stiffness matrix with simple springs connected in parallel, Robot. Autom. IEEE Trans, vol.15, issue.5, pp.953-958, 1999.

K. Choi, S. Jiang, and Z. Li, Spatial stiffness realization with parallel springs using geometric parameters, Robot. Autom. IEEE Trans, vol.18, issue.3, pp.274-284, 2002.

S. Huang and J. M. Schimmels, The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel, IEEE Trans. Robot. Autom, vol.14, issue.3, pp.466-475, 1998.

J. K. Davidson and K. H. Hunt, Robots and Screw Theory: Applications of Kinematics and Statics to Robotics, 2004.

M. Gouttefarde, J. Merlet, and D. Daney, Determination of the wrench-closure workspace of 6-dof parallel cable-driven mechanisms, Advances in Robot Kinematics, pp.315-322, 2006.
URL : https://hal.archives-ouvertes.fr/lirmm-00198802

M. Azadi and S. Behzadipour, A Planar Cable-driven Mechanism as a New Variable Stiffness Element, 2007.
DOI : 10.4271/2007-01-2421

S. Pellegrino, Analysis of prestressed mechanisms, Int. J. Solids Struct, vol.26, issue.12, pp.1329-1350, 1990.

E. L. Allgower and K. Georg, Introduction to numerical continuation methods, vol.45, 2003.
DOI : 10.1137/1.9780898719154

H. Keller, Lectures on numerical methods in bifurcation problems, Appl. Math, vol.217, p.50, 1987.

Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, and P. Renaud, Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design, Robotics and Automation (ICRA), 2016 IEEE International Conference on, 2016.
URL : https://hal.archives-ouvertes.fr/lirmm-01276757

J. Merlet and D. Daney, Legs interference checking of parallel robots over a given workspace or trajectory, Proceedings 2006 IEEE International Conference on, pp.757-762, 2006.
URL : https://hal.archives-ouvertes.fr/inria-00000195

L. Blanchet and J. P. Merlet, Interference detection for cable-driven parallel robots (cdprs), 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.1413-1418, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01095093

J. Merlet, Singular configurations of parallel manipulators and grassmann geometry, Int. J. Robot. Res, vol.8, issue.5, pp.45-56, 1989.