# Design and Control of a Compact Variable Stiffness Actuator Based on a Cam-Circular Beam Mechanism

> Research article (IEEE/ASME Transactions on Mechatronics, 2024) · cited 16× · AI/ML

**Wikidata**: [openalex:W4392207669](https://www.wikidata.org/wiki/openalex:W4392207669)  
**Source**: https://4ort.xyz/entity/design-and-control-of-a-compact-variable-stiffness-actuator-based-on-a-cam-circular-beam-mechanism