TO, Dong Anh Khoa; CHAU, Hoang Phuc; NGUYEN, Vu Linh. Design of a variable stiffness actuator based on a multi-pulley system with a spring. <b>Vietnam Journal of Mechanics</b>, Hanoi, Vietnam, v. 46, n. 3, p. 229–239, 2024. DOI: 10.15625/0866-7136/21024. Disponível em: https://vjmech.vast.vn/vjmech/article/view/21024. Acesso em: 8 nov. 2025.