Fondazione Istituto Italiano Di Tecnologia

Amir Jafari

Darwin G Caldwell

Gianluca Pane

Nikos Tsagarakis

Nikos G Tsagarakis

A rotary joint () includes an output member () rotatable about a first axis of rotation (x), a first actuator device () arranged to generate a rotary motion about the first axis (x), an input member () driven by the first actuator device () about the first axis (x), elastic elements () between the input member () and the output member () and configured such that the transmission of the torque takes place via the elastic elements (). A second actuator device () is arranged to change the stiffness of the rotary joint (). The rotary joint () includes an intermediate member () hinged () to the output member () to rotate relative to the output member about a second axis of rotation (x) parallel to the first axis (x), abuts at its opposite end against the elastic elements () and is hinged (), at an intermediate point thereof, to the input member () to rotate relative to the input member about a third axis of rotation (x) parallel to the first axis (x). Transmission of the torque between the input member () and the output member () takes place via the intermediate member (). The second actuator device () is arranged to change the hinge point and the distance between the second axis of rotation (x) and the third axis of rotation (x).

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Genoa, Italy

Amir Jafari