Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to
build passively compliant, robust, and dexterous robots. Numerous different hardware …

This article reviews approaches to controlling robots undergoing physical contact and
dynamic interaction with objects in the world. Conventional motion control is compared with …

To overcome the limitations of linear series elastic actuators (SEAs) with constant stiffness, a
novel load-adaptive actuator with variable stiffness is proposed for actuating ankle …

The field of exoskeletons and wearable devices for walking assistance and rehabilitation
has advanced considerably over the past few years. Currently, commercial devices contain …

This article presents a novel reconfigurable torque-controllable variable stiffness actuator
(RVSA) for knee exoskeleton. The concept of reconfiguring the pulley block is proposed to …

This paper presents a novel rotational serial variable stiffness actuator (SVSA) based on an
Archimedean spiral relocation mechanism (ASRM), which is applied to linearly change the …

This paper presents a new compact, rotational serial variable stiffness actuator (SVSA-II)
based on a symmetrical adjustable pivot lever mechanism that generates elastic torque and …

Theoretical studies suggest and experimental evidence confirms that maintaining and
changing human joint stiffness by coactivated antagonistic muscles are metabolically …

This work presents a reconfigurable variable stiffness actuator (RVSA) based on a rotational
spring mechanism (torsional spring) and a group of specially designed symmetrical S …

In this paper, a novel cable-driven antagonistic joint of variable stiffness is presented. The
joint features antagonistic, series-elastic actuation with novel variable stiffness mechanisms …