# Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation

> Research article (2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018) · cited 14× · AI/ML

**Wikidata**: [openalex:W2915041705](https://www.wikidata.org/wiki/openalex:W2915041705)  
**Source**: https://4ort.xyz/entity/conceptual-design-of-a-variable-stiffness-mechanism-in-a-humanoid-ankle-using-parallel-redundant-actuation