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Nonlinear stiffness elastic actuators (NSEAs) use one motor to adjust position and stiffness, which improve compactness of variable stiffness actuators, and consider high torque\/force resolution and high bandwidth. The primary challenge of designing a NSEA is designing a reliable compliant mechanism with a given torque-deflection profile. In this study, a general design method of torsional compliant mechanism through given discrete torque-deflection points was proposed, where a chain algorithm based on 2R pseudo-rigid-body model was used to describe the large deformation in elastic elements. Moreover, the theoretical model of stiffness of a compliant mechanism based on series flexible beams was developed. Based on the proposed model, the dimensional parameters of proposed compliant mechanism were designed satisfying the condition of the given torque-deflection points. Finally, simulation and physical experiment of the designed compliant mechanism through three given torque-deflection points are conducted to show the effectiveness of the proposed method. The designed compliant mechanism was tested and evaluated in the self-developed NSEA.<\/jats:p>","DOI":"10.1017\/s0263574723000528","type":"journal-article","created":{"date-parts":[[2023,5,17]],"date-time":"2023-05-17T08:49:46Z","timestamp":1684313386000},"page":"2571-2587","source":"Crossref","is-referenced-by-count":7,"title":["Design of a torsional compliant mechanism with given discrete torque-deflection points for nonlinear stiffness elastic actuator"],"prefix":"10.1017","volume":"41","author":[{"given":"Wenjie","family":"Ju","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bingwei","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rongjie","family":"Kang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Songyuan","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3715-2003","authenticated-orcid":false,"given":"Zhibin","family":"Song","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,5,17]]},"reference":[{"key":"S0263574723000528_ref11","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21556"},{"key":"S0263574723000528_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3060394"},{"key":"S0263574723000528_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2932312"},{"key":"S0263574723000528_ref6","doi-asserted-by":"crossref","unstructured":"[6] Au, S. , Herr, H. , Weber, J. and Martinez-Villalpando, E. , \u201cPowered Ankle-Foot Prosthesis for the Improvement of Amputee Ambulation,\u201d In: Conference proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 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