[yash101]

Maybe you could have a tie point, from the actuator to the frame, that slowly (using friction) allows the mechanism to return to neutral. When you want to release some energy, you just place that apparatus (similar to a tape measure with the brakes on). That could slowly take the energy away. Otherwise, just place a pneumatic piston on, temporarily with the exit partially blocked, and that will resist the force!

For robot safety, I suggest some solenoid with a pull-pin, so the pull pin will be pulled with the robot enabled, and put back in upon disable!


Safety FIRST!