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Herein, a novel multi\u2010configuration elastic actuator (MCEA) is proposed based on a controllable planetary differential mechanism (PDM) with one power port from three springs. These springs, positioned between the inner gear ring and the fixed housing shell, are regulated by a single servo motor through a ratchet\u2013pawl mechanism. This setup enables the springs to absorb energy during collisions, reducing impact and subsequently releasing this energy to boost power output. The inner gear ring functions as a controllable one\u2010way rotating element, acting either as an input or output for power. The MCEA's ability to manage power modulation and energy flow is demonstrated through experiments that highlight its potential for safe collision management, energy recycling, and power modulation. Experiment results indicate that the maximum output power of the MCEA in the proposed hybrid elastic actuation (HEA) mode is 8.05 times higher than that in the traditional actuation (TA) mode. A single\u2010legged robot with a four\u2010link mechanism is also built to validate the considerable performance in the application of legged robots, showing considerable adaptability and prospects for DERS.<\/jats:p>","DOI":"10.1002\/aisy.202400079","type":"journal-article","created":{"date-parts":[[2024,7,22]],"date-time":"2024-07-22T10:49:22Z","timestamp":1721645362000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Novel Multi\u2010configuration Elastic Actuator with Controllable Energy Flow and Power Modulation for Dynamic Energy Robot Systems"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8281-9703","authenticated-orcid":false,"given":"Dunwen","family":"Wei","sequence":"first","affiliation":[{"name":"School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China  No. 2006, Xiyuan Ave, West Hi\u2010Tech Zone Chengdu Sichuan 611731 China"}]},{"given":"Xiangyu","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China  No. 2006, Xiyuan Ave, West Hi\u2010Tech Zone Chengdu Sichuan 611731 China"}]},{"given":"Kunjian","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China  No. 2006, Xiyuan Ave, West Hi\u2010Tech Zone Chengdu Sichuan 611731 China"}]},{"given":"Tao","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China  No. 2006, Xiyuan Ave, West Hi\u2010Tech Zone Chengdu Sichuan 611731 China"}]},{"given":"Sajjad","family":"Hussain","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Information Technology University of Naples Federico II  Naples Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9214-9977","authenticated-orcid":false,"given":"Fanny","family":"Ficuciello","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Information Technology University of Naples Federico II  Naples Italy"}]}],"member":"311","published-online":{"date-parts":[[2024,7,22]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adj7246"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aag2048"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3234809"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3189249"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2897993"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3167065"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.05.024"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2916546"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4054724"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2894371"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsami.9b10386"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2023.3334795"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/2438.001.0001"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2528294"},{"key":"e_1_2_10_16_1","doi-asserted-by":"crossref","unstructured":"N.Kau A.Schultz N.Ferrante P.Slade inProc. 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