This technology is a robotic foot device based on a tensegrity structure. Multiple frames (forefoot, hindfoot, and ankle) are not physically joined directly but are held together by tension members (cables) to maintain tension and enable flexible walking movements.
Conventional rigid-body robotic feet have limited shock absorption due to their structure. Furthermore, because motors must be mounted directly onto the joint rotation axes, these systems are heavy and complex, making it difficult to achieve a wide range of motion.
This technology connects the forefoot, hindfoot, and ankle frames with cables (tension members), allowing for the adjustment of tension across the entire structure. This enables lightweight, flexible shock absorption and multi-directional rotation (dorsiflexion, plantarflexion, pronation/supination). By allowing the joint drive motors to be placed outside the ankle structure, the overall system weight is reduced. It can be applied to walking robots, disaster response robots, and off-road mobility platforms, providing shock absorption and flexible movement similar to a human foot.
This invention was developed with support from the Ministry of Science and ICT for a tensegrity robot system using pneumatic and tendon hybrid actuation.
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