This paper reports about the virtual and physical prototy** of an antagonistic Variable
Stiffness Actuator (VSA) to be used on robotic arms specifically realized for physical human …

A new vibration isolation joint with combined positive and negative stiffness is proposed,
which also supports multi-directional stiffness adjustment. Two sets of opposed buckling …

Compliant joints can provide safer physical human-robot interaction. To effectively balance
the response bandwidth and output impedance, variable stiffness joints have been studied …

In order to adapt to complex and changeable mechanical conditions and make the
deformable mechanisms perform well statically and dynamically, variable stiffness joints …

A variable stiffness mechanism is of great significance for simplifying the control scheme of a
robot for a polishing process, which requires that the mechanism complies with the …

The jamming mechanism is a crucial method to tune the stiffness of soft-bodied machines to
adapt to their surroundings. However, it is difficult for the present jamming structures to …

A variable stiffness joint is a key element for structural deformation, which is widely used in
morphing mechanisms including mechanical arms, folding wings, etc. By adjusting the …

The aim of this article is to study the consequences of the active stiffening of a compliant
mechanism on the workspace created by the deformation of its structure. In connection with …

In robotics, the variable stiffness joints have been developed as an alternative to include
flexibility to a rigid mechanism. Variable Stiffness Joint (VSJ) allows for varying the stiffness …

Variable stiffness joints designed to ensure physical safety or adjust stiffness actively have
attracted much attention in recent years. Springs are used in the internal kinematic structures …