Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA). - Irfan Hussain; Ahmad Albalasie; Mohammad I. Awad; Lakmal D. Seneviratne; Dongming Gan (Frontiers Robotics AI, 2018)

Design and Control of a Discrete Variable Stiffness Actuator With Instant Stiffness Switch for Safe Human-Robot Interaction. - Irfan Hussain; Ahmad Albalasie; Mohammad I. Awad; Khaled Tamizi; Zhenwei Niu; Lakmal D. Seneviratne; Dongming Gan (IEEE Access, 2021)