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However, these antagonistic designs typically are not as energy efficient as series-based designs. In this work, we propose a novel variable stiffness mechanism that can achieve both linear-spring behaviour whilst maintaining an energy efficient characteristic. This paper will present the working principle, mechanical design and characterization of the joints stiffness properties (verified via experimental procedure). The pros and cons of this novel design with reference to the other Variable Stiffness Actuator (VSA) designs will be discussed based on experimental results and in the context of general machining tasks.<\/jats:p>","DOI":"10.1017\/s0263574716000357","type":"journal-article","created":{"date-parts":[[2016,6,9]],"date-time":"2016-06-09T10:13:34Z","timestamp":1465467214000},"page":"1627-1637","source":"Crossref","is-referenced-by-count":12,"title":["A novel variable stiffness mechanism with linear spring characteristic for machining operations"],"prefix":"10.1017","volume":"35","author":[{"given":"Ngoc-Dung","family":"Vuong","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Renjun","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chee-Meng","family":"Chew","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Amir","family":"Jafari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joseph","family":"Polden","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2016,6,9]]},"reference":[{"key":"S0263574716000357_ref10","doi-asserted-by":"crossref","unstructured":"G. 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Caldwell , \u201cHow Design can Affect the Energy Required to Regulate the Stiffness in Variable Stiffness Actuators,\u201d Proceedings - IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA (2012) pp. 2792\u20132797.","DOI":"10.1109\/ICRA.2012.6224946"},{"key":"S0263574716000357_ref21","doi-asserted-by":"crossref","unstructured":"N. G. Tsagarakis , I. Sardellitti and D. G. Caldwell , \u201cA new variable stiffness actuator (CompAct-VSA): Design and modelling,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California, USA (2011) pp. 378\u2013383.","DOI":"10.1109\/IROS.2011.6095006"},{"key":"S0263574716000357_ref7","doi-asserted-by":"crossref","unstructured":"S. A. Migliore , E. A. Brown and S. P. Deweerth , \u201cBiologically Inspired Joint Stiffness Control,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain (Apr. 2005) pp. 4508\u20134513.","DOI":"10.1109\/ROBOT.2005.1570814"},{"key":"S0263574716000357_ref13","doi-asserted-by":"crossref","unstructured":"F. Petit and M. Chalon , \u201cBidirectional Antagonistic Variable Stiffness Actuation: Analysis, Design & Implementation,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA (2010) pp. 4189\u20134196.","DOI":"10.1109\/ROBOT.2010.5509267"},{"key":"S0263574716000357_ref12","doi-asserted-by":"crossref","unstructured":"M. G. Catalano , G. Grioli , M. Garabini , F. Bonomo , M. Mancini , N. Tsagarakis and A. Bicchi , \u201cVSA-CubeBot: A Modular Variable Stiffness Platform for Multiple Degrees of Freedom Robots,\u201d Proceedings - IEEE International Conference on Robotics and Automation, Shanghai, China (2011) pp. 5090\u20135095.","DOI":"10.1109\/ICRA.2011.5980457"},{"key":"S0263574716000357_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2168709"},{"key":"S0263574716000357_ref1","unstructured":"C. W. Lim and P. Y. Tao , \u201cEnhancing robotic applications in the industry through force control,\u201d Singapore Institute of Manufacturing Technology, Tech. Rep. (2010)."},{"key":"S0263574716000357_ref5","doi-asserted-by":"crossref","unstructured":"S. Wolf , O. Eiberger and G. Hirzinger , \u201cThe DLR FSJ: Energy Based Design of a Variable Stiffness Joint,\u201d Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China (May 2011) pp. 5082\u20135089.","DOI":"10.1109\/ICRA.2011.5980303"},{"key":"S0263574716000357_ref2","unstructured":"W. K. Teo , P. Y. Tao , C. Y. Lai , T. M. Lim and S. Subbiah , \u201cMachining method [US 20140154470],\u201d (2014)."},{"key":"S0263574716000357_ref9","first-page":"11","article-title":"Pneumatic artificial muscles: Actuators for robotics and automation","volume":"47","author":"Daerden","year":"2002","journal-title":"Eur. J. Mech. Environ. 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