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   _____     ___      _  _    __   __    ____    
  / ___//   / _ \\   | \| ||  \ \\/ //  |  _ \\  
  \___ \\  / //\ \\  |  ' ||   \ ` //   | |_| || 
  /    // |  ___  || | .  ||    | ||    | .  //  
 /____//  |_||  |_|| |_|\_||    |_||    |_|\_\\  
`-----`   `-`   `-`  `-` -`     `-`'    `-` --`

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發送短信 : Multi-source micro-friction identification for a class of cable-driven robots with passive backbone