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WAVE: Worm Gear Adaptive Variable Elasticity

Updated 12 July 2026
  • WAVE is a variable stiffness actuator that uses a non-backdrivable worm gear and spring precompression to decouple the motor from external loads.
  • It offers continuous stiffness modulation by adjusting spring precompression, enabling a smooth transition from rigid to compliant behavior.
  • Experimental results show that WAVE balances precision with shock absorption, making it effective for both contact-intensive and impact-prone applications.

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