Variable Stiffness Mechanism for Robotic Rehabilitation

  • Carl A. NelsonEmail author
  • Laurence Nouaille
  • Gérard Poisson
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents a variable stiffness mechanism suitable for use in robotic rehabilitation. By inherently varying both the magnitude and direction of loading in the mechanism using a single input, a large variation in effective stiffness is achieved. Design and analysis of the variable stiffness mechanism are presented, along with an example illustrating performance capabilities.


Variable Stiffness Robotic Rehabilitation Compliant Mechanisms 


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The work described in this paper was supported in part by the University of Orléans.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Carl A. Nelson
    • 1
    Email author
  • Laurence Nouaille
    • 2
  • Gérard Poisson
    • 2
  1. 1.University of Nebraska-LincolnLincolnUSA
  2. 2.PRISME LabUniversité d’Orléans INSA-CVLBourgesFrance

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