{
  "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.",
  "assignees": [
    "KOREA INST SCI & TECH"
  ],
  "authors": [
    "HWANG DONGHYUN",
    "LEE TAE RIM",
    "SONG CHANG SEOB"
  ],
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    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000001050",
  "published_at": "2026-09-15T19:03:47.743394Z",
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  "source_date": "2026-04-08",
  "source_id": "EP-4721930-A1",
  "source_name": "the European Patent Office",
  "source_url": "https://patents.google.com/patent/EP4721930A1",
  "supersedes": null,
  "title": "Joint structure and continuum robot including the same",
  "uuid": "01a0a674-311f-7c30-a698-4775ec69596e"
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