Document Type

Conference Proceeding

Publication Date



This study presents the comparison of the theoretical and experimental results of the performance of an adjustable stiffness mechanism. In particular, the use of redundant actuation is emphasized in the design of a one degree-of-freedom Watt II mechanism capable of independently controlling the effective stiffness without a change in equilibrium position. This approach is in contrast to spring mechanism designs unable to actively control the spring rate independent of deflection, and with potential applications in various types of suspension and assembly systems. Results indicate that two direct drive brush-type direct current motors are required to drive the redundantly actuated mechanism and create a system that behaves as an adjustable stiffness spring.


Copyright © 2010 by ASME. Uploaded with permission from publisher. Original published version available at

Publication Title

Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 8: Dynamic Systems and Control, Parts A and B





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