Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …

Neurologic injuries, such as stroke, spinal cord injuries, and weaknesses of skeletal muscles
with elderly people, may considerably limit the ability of this population to achieve the main …

Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while
overcoming the availability and cost constraints of therapists. However, current orthosis …

The Actuator with Adjustable Stiffness (AwAS) is an actuator which can independently
control equilibrium position and stiffness by two motors. The first motor controls the …

This paper describes the design and modelling of a new variable stiffness actuator
(CompAct-VSA). The principle of operation of CompAct-VSA is based on a lever arm …

This paper presents the actuator with adjustable stiffness (AwAS-II), an enhanced version of
the original realization AwAS. This new variable stiffness actuator significantly differs from its …

Clutches can be used to enhance the functionality of springs or actuators in robotic devices.
Here we describe a lightweight, low-power clutch used to control spring engagement in an …

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 …

Variable stiffness actuators are a particular class of actuators that is characterized by the
property that the apparent output stiffness can be changed independent of the output …