DOI: 10.1115/1.4032202
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Abstract: This paper introduces a distributed variable impedance actuator that provides independent control of the actuator's angular position and its impedance. The idea for the actuator was inspired by the morphological structure of muscles and tendons. The system to be presented can be used as both a variable impedance actuator as well as a passive piecewise linear spring. Moreover, the actuator has an adequate number of degrees-of-freedom to approximate any nonlinear spring characteristics because of its distributed…

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