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This paper describes the design and development of a new actuator with adjustable stiffness (AwAS) which can be used in robots which are necessary to work close to or physically interact with humans, e.g. humanoids and exoskeletons. The actuator presented in this work can independently control equilibrium position and stiffness by two motors. The first motor controls the equilibrium position while the second motor regulates the compliance. The novelty of the proposed design with respect to the existing systems is on the principle used to regulate the compliance. This is done not through the tuning of the pretension of the elastic element as in the majority of existing system but by controlling the fixation of the elastic elements (springs) using a linear drive. An important consequence of this approach is that the displacement needed to change the stiffness is perpendicular to the forces generated by the springs, thus …