A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept by Maarten Weckx, Glenn Mathijssen, Idris Si Mhand Benali, Raphaël Furnemont, Ronald Van Ham, Dirk Lefeber, Bram Vanderborght

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A Variable Stiffness Actuator Module With Favorable Mass Distribution for a Bio-inspired Biped Robot by David Rodriguez-Cianca, David Rodriguez-Cianca, Maarten Weckx, Rene Jimenez-Fabian, Diego Torricelli, Jose Gonzalez-Vargas, Jose Gonzalez-Vargas, M.Carmen Sanchez-Villamañan, Massimo Sartori, Karsten Berns, Bram Vanderborght, J. Luis Pons, Dirk Lefeber

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