A light-weight, multi-axis compliant tensegrity joint

TL;DR

This paper introduces a lightweight, multi-axis compliant tensegrity joint inspired by the human elbow, capable of flexible, biologically inspired actuation suitable for unpredictable environments and human-robot interaction.

Contribution

It presents a novel, structurally compliant tensegrity joint that mimics human elbow motion and offers multi-axis flexibility for advanced robotic applications.

Findings

Demonstrates multi-axis compliance in a tensegrity joint

Achieves biologically inspired actuation through cable length changes

Provides a lightweight design suitable for complex environments

Abstract

In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation in a person. Unlike many series elastic actuators, this joint is structurally compliant not just along each axis of rotation, but along other axes as well. Compliant robotic joints are indispensable in unpredictable environments, including ones where the robot must interface with a person. The joint also addresses the need for functional redundancy and flexibility, traits which are required for many applications that investigate the use of biologically accurate robotic models.