Before revision:  A new variable stiffness actuator (VSA) is presented, designedfor reproducing the full versatility of human motions from delicate tasks to precise positioning tasks through teleoperation, and highly dynamic tasks like hammering in particular.
After revision: This study is part of research aiming at increasing the range of dynamic tasks for teleoperated field robotics in order to allow operators to use the full range of human motions without being limited by the dynamics of the robotic manipulator. A new variable stiffness actuator (VSA) is presented, designedfor reproducing the full versatility of human motions from delicate tasks to precise positioning tasks through teleoperation, and highly dynamic tasks like hammering in particular.