Models Stall Torque enhancer by using split-ring epicycle planetary gearbox, compliant ratchet, and compliant bi-stable mechanisms. 6 51 0 Split-ring Compound Epicyclic Planetary Gearbox 2 102 0 Turmell-Bot 4 101 0 Turmell-metre 4 96 1 BMS module 2S 3A 9 263 0 Biomimetics Turbine 8 130 1
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