The two-degree-of-freedom cable pulley (2DCP) transmission system: An under-actuated and motion decoupled transmission for robotic applications - Rodriguez-Cianca, D; Verstraten, T; Rodriguez-Guerrero, C; Jimenez-Fabian, R; Naef, M B; Vanderborght, B; Lefeber, D (MECHANISM AND MACHINE THEORY, 2020)