Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Design of Variable Stiffness Actuator Based on Modified Gear–Rack Mechanism J. Mechanisms Robotics. 2016;8(6):061008-061008-10. doi:10.1115/1.4034142 Figure Legend: Exploded view of vsaMGR: 1—base, 2—timing belt for driving, 3—harmonic gear reducer, 4—stiffness-regulating motor (2), 5—MGR, 6—deep groove ball bearing (6), 7—spur gear (4), 8—linear guide, 9—right half housing (inner bushing, connected with #20), 10—hollow output flange (outer bushing), 11—potentiometer, 12—potentiometer housing, 13—solid flange (connected with #8 and #9), 14—timing belt for measuring, 15—output link (connected with #10), 16—slider (2), 17—brackets for slider (2), 18—gear housing (2), 19—regulating motor housing (2), 20—left half housing (connected with #3), 21—joint motor, 22—spacer, 23—locking nut (2), 24—eccentric shaft, and 25—tension wheel