V-Soft Pro: Toward Natural Bionic Limbs via Soft Robotics and Variable Stiffness Actuation

We present a transhumeral prosthesis with Variable Stiffness Actuators (VSAs) to mimic the adjustable compliance of human joints. The modular design accommodates different users' residual limb shapes and biological control signals. Our design draws on biological compliance for natural interaction with the environment, aiming to improve prosthesis embodiment and users' social interactions. Moreover, embedded elastic elements enhance safety, enable more natural movement, and enhance versatility in daily tasks.