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Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031001.
Paper No: JMR-20-1437
Published Online: March 12, 2021
...Ryan Moore; Joseph M. Schimmels Antagonistically actuated variable stiffness actuators (VSAs) take inspiration from biological muscle structures to control both the stiffness and positioning of a joint. This paper presents the design of an elastic mechanism that utilizes a cable running through...