Modular hinged joint for use with agonist-antagonist tensile inputs

摘要

A modular hinged joint which attaches to the end of a structural member converts agonist-antagonist tensile forces to either side of a cord into a torque in a second structural member. Plain bearing surfaces with hour-glass shaped profiles maintain the alignment of the joint tensile forces are applied to the cord. Tensile forces introduced from the cord are resolved within the joint, reducing the robustness demand on the attachment to the second structural member. A pin-type fastener ensures that the joint remains intact when tensile forces to the cord are absent.

主权项

1. A hinged joint, comprising
a. a condyle set which includes a means for attachment to the end of a long structural member, b. a pair of sockets with lubricious surface characteristics with respect to said condyle set, into which rest said condyle set, c. a pulley, d. a flexible cord which passes around said pulley and is capable of being subject to tensile urges on either end, e. a torque arm with means for attachment to a structural member which is to be rotated, f. a means of transferring the sum of said tensile urges exerted in said cord into said sockets for the purpose of being reacted by said condyle set and, g. a means for transferring the difference of said tensile urges in said cord acting about the center of rotation of said sockets riding in said condyle set into a torsional urge in said torque arm.