| SEA | series elastic actuators |
| DOB | disturbance observer |
| PD | proportional derivative |
| VSA | variable stiffness actuator |
| NLS | nonlinear spring |
| PEA | parallel elastic actuator |
| SPEA | series–parallel elastic actuator |
| SMC | sliding mode control |
| PID | proportional–integral–derivative |
| DOF | degree of freedom |
| COM | center of mass |
| CE | contractile element |
| SE | series elastic element |
| PE | parallel elastic element |
| AOC | amount of compression |
| SEM | series elastic module |
| EFS | extension-force spring |
| CFS | contraction-force spring |
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