# Design and Modeling of a Continuously Tunable Stiffness Arm for Safe Physical Human–Robot Interaction

> Research article (Journal of Mechanisms and Robotics, 2019) · cited 14× · AI/ML

**Wikidata**: [openalex:W2972852735](https://www.wikidata.org/wiki/openalex:W2972852735)  
**Source**: https://4ort.xyz/entity/design-and-modeling-of-a-continuously-tunable-stiffness-arm-for-safe-physical-humanrobot-interaction