This technology features a robot joint structure based on tensegrity principles. Multiple bodies (first through third) are connected by a series of string members without direct contact, enabling 3-DOF (pitch, yaw, roll) rotation and flexibility against external forces.
Conventional rigid-body robot joints are prone to damage from external impacts, struggle to achieve flexibility along the axis of rotation through control methods alone, and suffer from friction and wear due to contact between rigid parts, as well as increased weight that makes long-term wear uncomfortable.
This technology implements a tensegrity structure by arranging three bodies in a non-contact configuration and utilizing string members in square pyramid, rhombus, and octahedron patterns. The first through third bodies are made of elastic materials, and bearings are installed at the rotation axis anchor points to prevent friction and wear. By separating the drive unit externally, the weight of the joint is significantly reduced. This design is ideal for robotic shoulders, collaborative robots, and wearable robots, providing flexible response to external impacts while minimizing joint weight.
This invention was developed with support from the Ministry of Science and ICT for the Tensegrity Robot System using Pneumatic and Tendon Hybrid Actuation.
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