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Optimization Design and Simulation Validation of a Variable Stiffness Actuator Based on a Crossed Four-Bar Mechanism
This paper presents a bio-inspired antagonistic variable stiffness actuator (VSA) based on two crossed four-bar compliant transmission elastic units (CFB-CTEs). The design addresses the difficulty of combining nonlinear elastic shaping with low structural inertia in antagonistic VSA mechanisms. Insp
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