Trevor Exley and Amir Jafari have recently published a paper titled "Increasing robustness and output performance of Variable Stiffness Actuators in periodic motions" in the journal Mechanism and Machine Theory (Volume 169, Pages 104645, Publisher: Pergamon). The research focuses on enhancing the energy efficiency and robustness of Variable Stiffness Actuators (VSAs) in specific applications, aiming for more compact, lighter, yet powerful VSAs.