---
publication_id: "OT-2026-000000920"
title: "Variable stiffness joint structure and continuum robot including the same"
published_at: "2026-09-15T19:03:35.521226Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000920"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/06"
  - "b25j9/065"
  - "b25j9/065"
  - "b25j17/00"
  - "b25j17/00"
  - "b25j17/00"
---

# Variable stiffness joint structure and continuum robot including the same

## Abstract

Provided is a variable stiffness joint structure including a central module, a pressing module that surrounds the central module, and has a grip position in which the central module is radially pressed to block rotation of the central module, and a rotation position in which the central module is released to allow rotation of the central module, and a driving module configured to provide a driving force to move the pressing module from the rotation position to the grip position, wherein the pressing module includes at least one pressing member arranged in a circumferential direction to surround an outer circumferential surface of the central module.