The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design of Compliant Hinge Joints inspired by Ligamentous Structure

인대 구조에 기인한 유연 경첩 관절의 설계

  • Lee, Geon (Department of Electronic Systems Engineering, Hanyang University) ;
  • Yoon, Dukchan (Department of Electronic Systems Engineering, Hanyang University) ;
  • Choi, Youngjin (Department of Electrical and Electronic Engineering, Hanyang University)
  • Received : 2019.08.15
  • Accepted : 2019.10.08
  • Published : 2019.11.30
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Abstract

This paper suggests novel types of joint mechanisms composed of elastic strings and rigid bodies. All of the human hinge joints have the articular capsule and a pair of collateral ligaments. These fibrous tissues make the joint compliant and stable. The proposed mechanism closely imitates the human hinge joint structure by using the concept of tensegrity. The resultant mechanism has several characteristics shown commonly from both the tensegrity structure and the human joint such as compliance, stability, lightweight, and non-contact between rigid bodies. In addition, the role and feature of the human hinge joints vary according to the origins of a pair of collateral ligaments. Likewise, the locations of two strings corresponding to a pair of collateral ligaments produce different function and motion of the proposed mechanism. It would be one of the advantages obtained from the proposed mechanism. How to make a joint mechanism with different features is also suggested in this paper.

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References

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