%PDF-1.4 % 4 0 obj (I INTRODUCTION) endobj 5 0 obj << /D (section.2) /S /GoTo >> endobj 8 0 obj (II BACKGROUND INFORMATION) endobj 9 0 obj << /D (subsection.2.1) /S /GoTo >> endobj 12 0 obj (II-A Biological Inspiration) endobj 13 0 obj << /D (subsection.2.2) /S /GoTo >> endobj 16 0 obj (II-B Tensegrity Structures and Robotics) endobj 17 0 obj << /D (subsection.2.3) /S /GoTo >> endobj 20 0 obj (II-C Structural Compliance in Robotic Joints) endobj 21 0 obj << /D (section.3) /S /GoTo >> endobj 24 0 obj (III SYSTEM DESIGN AND CONTROL) endobj 25 0 obj << /D (subsection.3.1) /S /GoTo >> endobj 28 0 obj (III-A Compression Elements) endobj 29 0 obj << /D (subsection.3.2) /S /GoTo >> endobj 32 0 obj (III-B Tension Elements) endobj 33 0 obj << /D (subsection.3.3) /S /GoTo >> endobj 36 0 obj (III-C Control) endobj 37 0 obj << /D (section.4) /S /GoTo >> endobj 40 0 obj (IV SIMULATION) endobj 41 0 obj << /D (subsection.4.1) /S /GoTo >> endobj 44 0 obj (IV-A NASA Tensegrity Robotics Toolkit) endobj 45 0 obj << /D (section.5) /S /GoTo >> endobj 48 0 obj (V RESULTS AND DISCUSSION) endobj 49 0 obj << /D (subsection.5.1) /S /GoTo >> endobj 52 0 obj (V-A Actuation Capability) endobj 53 0 obj << /D (subsection.5.2) /S /GoTo >> endobj 56 0 obj (V-B Hardware Validation of Software Models) endobj 57 0 obj << /D (subsubsection.5.2.1) /S /GoTo >> endobj 60 0 obj (V-B.1 Passive Models) endobj 61 0 obj << /D (table.1) /S /GoTo >> endobj 64 0 obj (V-B.2 Active Model) endobj 65 0 obj << /D (section.6) /S /GoTo >> endobj 68 0 obj (VI CONCLUSION, CONTRIBUTION, AND FUTURE WORK) endobj 69 0 obj << /D (subsection.6.1) /S /GoTo >> endobj 72 0 obj (VI-A Applications in Physical Therapy and Wearable Robotics) endobj 73 0 obj << /D (subsection.6.2) /S /GoTo >> endobj 76 0 obj (VI-B Future Work) endobj 77 0 obj << /D (section*.1) /S /GoTo >> endobj 80 0 obj (References) endobj 81 0 obj << /D [ 82 0 R /Fit ] /S /GoTo >> endobj 86 0 obj << /Filter /FlateDecode /Length 4136 >> stream xْܶ]_1xU^dG.ˮXAcZm>}䌰*V-Fh4Ƅ&|"o_|m6Q*7(VAF<̂27fmqhsˠԎNjWtnݍM7CߌO60mBآ(q]Ҷ;I"۾Mn?DtBn0àHM9̃%