OPENTECHNICAL PUBLICATION
OT-2026-000001050

Joint structure and continuum robot including the same

Published: 2026-09-15T19:03:47.743394Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001050
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001050
Published 2026-09-15T19:03:47.743394Z
https://opentechnical.org/p/OT-2026-000001050