A compact variable stiffness joint for compliant robotics enabled by torsion-spring mean-diameter variation

Abstract For robotic applications requiring compliance and safety in rehabilitation training, physical human–robot collaboration, and unstructured environments, this study proposes a variable-stiffness joint design method, termed TSDV, based on the mean-coil-diameter variation mechanism of a torsion...

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Bibliographic Details

Main Authors:	Xiangxu Qu, Zhengkai Feng, Kang Ju, Cui Liu, Lan Chen, Ruiqi Xu, Yuanbo Yang, Gang Wang, Yuting Zhang, Jingjie Dai
Format:	Artigo
Language:	Inglês
Published:	Nature Portfolio 2026-05-01
Series:	Scientific Reports
Subjects:	Variable stiffness joint Torsion spring Compliant actuation Human-robot interaction
Online Access:	https://doi.org/10.1038/s41598-026-50967-4
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