A prototype of a novel energy efficient variable stiffness actuator

In this work, we present a proof of concept of a novel variable stiffness actuator. The actuator design is based on the conceptual design proposed in earlier work, and is such that the apparent output stiffness of the actuator can be changed independently of the output position and without any energy cost. Experimental results show that the behavior of the prototype is in accordance with the theoretical results of the conceptual design, and thus show that energy efficient variable stiffness actuators can be realized.