A bio-inspired condylar hinge joint for mobile robots

• Published in: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4042 - 4047
• Main Authors: Etoundi, Appolinaire C., Vaidyanathan, Ravi, Burgess, Stuart C.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2011
• Subjects: bio-inspired hinge joint; Cruciate ligaments; Fasteners; four-bar mechanism; Humans; Joints; Knee; Ligaments; moving centre of rotation; Robots; Torque

This paper presents a bio-inspired design of hinge joint for mobile robots based on the human knee joint. The joint mimics the curved profiles of the femur and tibia bones and also mimics the four-bar motion of the cruciate ligaments. The bio-inspired design has the same desirable features of a natu...