# Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator

> Research article (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016) · cited 21× · AI/ML

**Wikidata**: [openalex:W2563945314](https://www.wikidata.org/wiki/openalex:W2563945314)  
**Source**: https://4ort.xyz/entity/elastic-energy-storage-in-leaf-springs-for-a-lever-arm-based-variable-stiffness-actuator