Artificial Joint

Tensegrity Artificial Joint with String-Connected Branching Members

This technology is an artificial joint mechanism that forms a tensegrity structure by connecting two branching joint members with multiple main and sub-strings. This design ensures rotational freedom and flexibility without physical contact, effectively preventing friction and wear.

Traditional rigid mechanical joints struggle to absorb external shocks, cannot achieve flexibility along the axis of rotation through control methods alone, and suffer from reduced durability over time due to friction and wear between components.

This technology connects the branches of the first and second joint members symmetrically or in parallel using multiple main strings, while incorporating auxiliary sub-strings to control rotational characteristics. This allows for pitch/yaw rotational freedom and multi-directional flexibility based on string tension. Applicable to collaborative robots, wearable robots, and precision manipulators, it ensures long-term durability by eliminating friction and wear through non-contact rotation.

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Key Features:

• A second joint member comprising a second frame and second-first and second-second branches extending from both sides of the second frame.
• An artificial joint further comprising sub-strings, wherein the sub-strings provide rotational characteristics between the first joint member and the second joint member.
• A first joint member comprising a first frame and first-first and first-second branches extending from both sides of the first frame.
• A first main string connecting one side of the first-first branch to one side of the second-first branch.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of biomimetic bionic arm mechanisms.