# Stiffness Modulation in a Humanoid Robotic Leg and Knee

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W3133589294](https://www.wikidata.org/wiki/openalex:W3133589294)  
**Source**: https://4ort.xyz/entity/stiffness-modulation-in-a-humanoid-robotic-leg-and-knee