The invention is a new design of a compliant revolute joint mechanism, which has multiple configurations exhibiting variable stiffness performance. The joint mechanism provides compliance between its input and output shafts. Variable stiffness performance, such as soft spring, hard spring, in addition to linear spring, can be achieved by changing the mechanism configuration which is based on the wrapping pattern of elastic material, replacing the elastic material of different stiffness, or tuning their pretention force. The invention is designed with a compact structure. The new joint can be integrated into electric motors to build compliant actuators in assistive exoskeletons, rehabilitation robots and other robots where a safe human-robot interaction is concerned. The innovation can also be applied as a new coupling device, which is commonly used in motion transmissions.
|IPC||F16D 3/ 62 A I|
|Publication status||Published - 19 Mar 2020|