Linguistic steganography is a key information hiding technique but faces challenges like abrupt content shifts, detection risks, and high training resource demands. To address these, this paper introduces SCF-Stega, a controllable method based on Semantic Communications Framework. By using a knowledge graph to guide secret encoding and dynamically adjusting large language model outputs, SCF-Stega enhances text imperceptibility and semantic coherence. Experiments show improved text quality and strong resistance to steganalysis, without needing additional training data.

This paper presents a new variable stiffness actuator based on a second-order lever mechanism which has wide stiffness regulation range. By employing a novel symmetric structure design and improving the load capacity of the stiffness regulation module, the proposed actuator also shows well performance in load capacity, stiffness regulation response, and elastic hysteresis. On this basis, a variable stiffness actuated manipulator is developed. The experimental results demonstrate that the presented manipulator possesses abilities in fast stiffness tracking, shock-absorbing and explosive movement. It is also verified that the manipulator can withstand accidental impact, which illustrates the structure stability of the proposed design.