An intrinsically stable neuromorphic motion controller comprising of two an agonistic actuators coupled with paired torque and position sensors. Each mechanical linkage having at least one degree of freedom is actuated by two motors via two flexible tendons with built-in stretch (torque) sensors....http://www.google.com/patents/US7676440?utm_source=gb-gplus-sharePatent US7676440 - Neuromorphic motion controller for controlling a joint using winner take all
