# A novel variable stiffness actuator based on a rocker-linked epicyclic gear train

> Research article (Mechanism and Machine Theory, 2022) · cited 19× · AI/ML

**Wikidata**: [openalex:W4288488691](https://www.wikidata.org/wiki/openalex:W4288488691)  
**Source**: https://4ort.xyz/entity/a-novel-variable-stiffness-actuator-based-on-a-rocker-linked-epicyclic-gear-train