[
    {
        "id": "osp-18333",
        "type": "article-journal",
        "title": "Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces",
        "author": [
            {
                "family": "Yao",
                "given": "Siyue"
            },
            {
                "family": "Xie",
                "given": "Xiaochi"
            },
            {
                "family": "Zhao",
                "given": "Shixuan"
            },
            {
                "family": "Li",
                "given": "Yutong"
            },
            {
                "family": "Li",
                "given": "Hao"
            },
            {
                "family": "Cutkosky",
                "given": "Mark R."
            },
            {
                "family": "Chen",
                "given": "Genliang"
            }
        ],
        "URL": "https://omanscience.com/ar/articles/lego-like-stiffness-configuration-of-planar-compliant-modules-for-task-specific-flexible-interfaces",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "abstract": "Compliant mechanisms provide compact and intrinsic structural compliance for regulating physical interactions between mechanisms and environments. However, different tasks demand distinct stiffness characteristics, often requiring task-specific optimization and redesign due to limited geometric design space and inherent coupling among multiple stiffness components. This paper presents a Lego-like stiffness configuration approach using stackable planar compliant modules. Three complementary module geometries are introduced, with their stiffness characteristics further regulated through beam width, plate thickness, and module orientation. A unified stiffness model is established for quantitative analysis of individual and composed modules. Further, a two-stage optimization method is presented to achieve desired stiffness profiles, combining a genetic algorithm for configuration and sequential quadratic programming for parameter refinement. Experimental verification shows deviations below 6.5% for simulated stiffness. A flexible wrist is further developed as a representative implementation, exhibiting distinct compliant and dynamic responses under different stiffness characteristics. An optimized modular composition realizes prescribed stiffness values and maintains compliant obstacle interaction during high-speed motion at 1 m/s, with a maximum tested angular compliance of approximately $15^\\circ$. The proposed framework provides a systematic approach for constructing flexible interfaces with task-specific stiffness characteristics."
    }
]