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This work presents a method to control the stiffness of a hybrid actuator. The resulting stiffness is required to meet the conditions of real life applications, such as human prosthetics, human-robot interaction, and delicate robot interaction. The hybrid actuator is basically a pneumatic-hydraulic muscle, which can operate simultaneously in both pneumatic and hydraulic modes. The main challenge in this work is to manage the switching between pneumatic and hydraulic modes. In pneumatic modedoi:10.35940/ijrte.f7241.038620 fatcat:ulklnp54u5etjlrcb65c5mlngq