Bending Stiffness Control Device for Joint Mechanisms

Joint Bending Stiffness Control Device Using Torsional Control of a Mesh-Type Variable Stiffness Element

This technology is a bending stiffness control device for joint mechanisms that adjusts joint stiffness by securing a cylindrical mesh-type variable stiffness element to the arms of a joint and twisting one end of the element using a motor and gear mechanism.

Existing technologies for controlling bending stiffness in manipulators and motion assistance devices are insufficient, and there has been a lack of simple, effective mechanical means to ensure movement assistance, operational precision, and safety.

This technology proposes a method to control bending stiffness by varying the density of a mesh structure through torsion. It features a mesh-type variable stiffness element, a supporting holder, and a rotating unit consisting of a motor and drive/driven gears. Applicable to collaborative robots and rehabilitation assistive devices, it offers new possibilities for freely switching between flexibility and rigidity depending on the task.

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Key Features:

• A variable stiffness unit featuring a mesh-type variable stiffness element whose rigidity changes according to the degree of torsion
• A rotating support member coupled to one end of the mesh-type variable stiffness element to transmit torque
• A first variable stiffness unit holder coupled to the first arm to rotatably support the rotating support member
• A second variable stiffness unit holder coupled to the second arm to support the other end of the variable stiffness element