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:  A new variable impedance actuator (VIA) was designed, capable of reproducing motions through teleoperation from precise positioning tasks through teleoperation, and highly dynamic tasks like hammering in particular.