Abbood, Wisam T.Wisam T.AbboodNacy, Somer M.Somer M.NacyYoussef, GeorgeGeorgeYoussefAbdullah, Oday IbraheemOday IbraheemAbdullah2022-06-142022-06-142022-02-19Intelligent Service Robotics 15 (3): 275-287 (2022)http://hdl.handle.net/11420/12895The present paper investigates a variable stiffness elastic actuator, which was adjusted using a special-purpose mechanism. A model was derived to obtain the response of the actuator. Concurrently, an experimental setup was designed and manufactured to validate the theoretical model. A novel control scheme is adopted to enhance the response through stiffness variation. Results showed that the time of response is reduced by 73% as compared to that of a constant stiffness actuator. In order to find the effectiveness of the proposed control scheme, a PID controller is implemented, where the response time was reduced by 58% using the former.en1861-278420223275287SpringerDynamics and controlPID controllerSpiral springsVariable stiffness actuatorsTechnikJournal Article10.1007/s11370-022-00413-xOther