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Most traditional robotic mechanisms feature inelastic joints that are unableto robustly handle large deformations and off-axis moments. As a result, theapplied loads are transferred rigidly throughout the entire structure. Thedisadvantage of this approach is that the exerted leverage is magnified at eachsubsequent joint possibly damaging the mechanism. In this paper, we present twolightweight, elastic, bio-inspired tensegrity robotics arms which mitigate thisdanger while improving their mechanism's functionality. Our solutions featuremodular tensegrity structures that function similarly to the human elbow andthe human shoulder when connected. Like their biological counterparts, theproposed robotic joints are flexible and comply with unanticipated forces. Bothproposed structures have multiple passive degrees of freedom and four activedegrees of freedom (two from the shoulder and two from the elbow). Thestructural advantages demonstrated by the joints in these manipulatorsillustrate a solution to the fundamental issue of elegantly handling off-axiscompliance.

A Bio-Inspired Tensegrity Manipulator with Multi-DOF, Structurally Compliant Joints