Variable Stiffness Mechanism for Robotic Rehabilitation

Carl A. Nelson, Laurence Nouaille, Gérard Poisson

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


This paper presents a variable stiffness mechanism suitable for use in robotic rehabilitation. By inherently varying both the magnitude and direction of loading in the mechanism using a single input, a large variation in effective stiffness is achieved. Design and analysis of the variable stiffness mechanism are presented, along with an example illustrating performance capabilities.

Original languageEnglish (US)
Pages (from-to)1761-1769
Number of pages9
JournalMechanisms and Machine Science
StatePublished - 2019


  • Compliant Mechanisms
  • Robotic Rehabilitation
  • Variable Stiffness

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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