...Chen Ji; Zhongqiang Zhang; Guanggui Cheng; Minxiu Kong; Ruifeng Li This paper proposes a compact and reconfigurable variable stiffness actuator (VSA) using disc spring which is named as SDS-VSA (symmetrical disc spring variable stiffness actuator). To enhance the actuator’s torque density...

...Yinghao Ning; Hailin Huang; Wenfu Xu; Weimin Zhang; Bing Li Variable stiffness actuators (VSAs) are widely explored as they could improve the safe performance for human-robot interaction and make the system torque controllable based on the internal compliance. This article presents a novel VSA...