Stiffness adjustability is one of the key characteristics that help humans achieve safe and reliable motions. This paper aims to realize the simultaneous position-stiffness control of an antagonistic joint driven by a type of super-coiled polymer (SCP) artificial muscles. made from a combination of Spandex and nylon fibers. A nonlinear model that can exhibit the variable stiffness cha... https://www.balboasurfandsstylers.shop/product-category/scrunchies/