@article {Utsugi:15 December 2000:0169-1864:337,
	author = "Utsugi, Yasushi",
	author = "Osumi, Hisashi",
	title = "Parallel wire suspension mechanisms with a hierarchical structure",
	journal = "Advanced Robotics",
	volume = "14",
	year = "15 December 2000",
	abstract = "",
	pages = "337-338(2)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2000/00000014/00000005/art00004"
	doi = "doi:10.1163/156855300741870"
}