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Series-Parallel Elastic Actuation (SPEA)
3D-printed variable stiffness joint
Elbow Exoskeleton and a novel Variable Stiffness Mechanism
VSA (Variable Stiffness Actuator) Arm
Exploiting Passive Dynamics with Variable Stiffness Actuation in Robot Brachiation
Underactuated Anthropomorphic Finger with Variable Stiffness Actuation