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This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots and robotic arms have shown the ability to reduce the energy consumption and motor requirements such as peak torque and peak power. Because of those abilities, they are increasingly used in robotics. In this paper, we categorize existing CEA designs, identify trends in those designs and provide a methoddoi:10.1109/tmech.2017.2657224 fatcat:sfjdelpusbc4pkcxwmrkfxpffq