# Flexible Actuator With Variable Stiffness and Its Decoupling Control Algorithm: Principle Prototype Design and Experimental Verification

> Research article (IEEE/ASME Transactions on Mechatronics, 2018) · cited 23× · AI/ML

**Wikidata**: [openalex:W2885008703](https://www.wikidata.org/wiki/openalex:W2885008703)  
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