A lightweight, multi-axis compliant tensegrity joint

  title={A lightweight, multi-axis compliant tensegrity joint},
  author={Steven Lessard and Jonathan Bruce and Erik Jung and Mircea Teodorescu and Vytas SunSpiral and Adrian K. Agogino},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  • Steven Lessard, J. Bruce, A. Agogino
  • Published 26 October 2015
  • Engineering, Computer Science
  • 2016 IEEE International Conference on Robotics and Automation (ICRA)
In this paper, we present a lightweight, multi-axis compliant tensegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cables 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… 

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