# A Compact Adjustable Stiffness Rotary Actuator Based on Linear Springs: Working Principle, Design, and Experimental Verification

> Research article (Actuators, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3113190506](https://www.wikidata.org/wiki/openalex:W3113190506)  
**Source**: https://4ort.xyz/entity/a-compact-adjustable-stiffness-rotary-actuator-based-on-linear-springs-working-principle-design-and-experimental-verific