..., a tilt DOF, and both tip and tilt DOFs. Bistability and stiffness cancelation principles are exploited to achieve the desired changes in stiffness. Two flexure elements can be identified—the switch providing a negative stiffness and the cross-axis-flexural-pivot (CAFP) producing a positive stiffness...

...-model. Here, the positive stiffness exhibited by torsion springs at the R-joints is compensated by a negative stiffness function. The negative stiffness is created by a non-zero-free-length linear spring connected between the coupler link and the ground, and where both connecting points trace a line...

... be applied, where a balancing segment with a negative stiffness is added to cancel the positive stiffness of the compliant mechanism. This paper presents a strategy for the design of statically balanced compliant mechanisms and validates it through the fabrication and testing of proof-of-concept prototypes...