Antagonistically actuated Variable Stiffness Actuators (VSAs) take inspiration from biological muscle structures to control both the stiffness and positioning of a joint. The design presented utilizes a cable running through a set of three pulleys, to displace a linear spring, yielding quadratic spring behavior. A quasi-static model of the mechanism is used to assess and optimize the force-displacement behavior. The mechanism prototype yielded a good match to the desired elastic behavior.

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