# Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human–Robot Interaction

> Research article (2021 IEEE International Conference on Robotics and Automation (ICRA), 2021) · cited 32× · AI/ML

**Wikidata**: [openalex:W3207594049](https://www.wikidata.org/wiki/openalex:W3207594049)  
**Source**: https://4ort.xyz/entity/design-and-modeling-of-a-variable-stiffness-spring-mechanism-for-impedance-modulation-in-physical-humanrobot-interaction