Robotic Arm

A modular robotic arm comprising:

• a first joint module comprising:
• a first joint that is movable to cause movement between rigid first and second links, the first or second link comprising a first interlocking feature;
• and
• a first variable stiffness actuator having one or more resilient members actuatable to move the first joint;
• and
• a second module comprising a second interlocking feature configured to interlock with the first interlocking feature of the first module,
• wherein the robotic arm has an operating mode in which the second interlocking feature is interlocked with the first interlocking feature to thereby operatively connect the second module to the first module, and a reconfiguration mode in which the second interlocking feature is separated from the first interlocking feature to thereby enable the first or second module to be swapped for a replacement module, and
• wherein in the operating configuration the one or more resilient members do not engage the second module,
• wherein the one or more resilient members are each connected to the first link and the second link, and
• wherein the one or more resilient members each comprise an elastic portion that is configured to elongate under an applied tension and be biased to return to its original length upon removal of said applied tension.