Variable Stiffness Actuator (VSA) Robot Arm - Turning Crank

I designed and built this robot arm including all mechanical and electrical system design for my master's thesis project. The variable stiffness actuator (VSA) joints are designed to allow real-time control of the passive mechanical impedance (torsional stiffness) of the joint. Three joints allow independent specification of compliance and position of the end-effector. The test task is to turn a crank with a weight attached.