Different, adaptable, passive-compliant actuators have been developed recently such as the antagonistic setup of two Series Elastic Actuators, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, the Actuator with Mechanically Adjustable Series Compliance, and the Variable Stiffness Actuator. The main purpose of these designs is to reduce the energy consumption of walking/running robots and prostheses. This paper presents a design formulation to link the different mechanical designs together, and a study on the power consumption of these actuators.
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