Design and Analysis of a Parallel Elastic Shoulder Joint for Humanoid Robotics Application

Design and Analysis of a Parallel Elastic Shoulder Joint for Humanoid Robotics Application

This paper presents an innovative hybrid cable-driven shoulder joint for humanoid robotics application. A blend of a flexible central limb and three rigid lateral limbs, form a 2-degree-of-freedom (2 DOF) mechanism that connects the mobile platform to the fixed base. This design leverages both good...

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Bibliographic Details
Main Authors: Sharafatdin Yessirkepov, Timur Umurzakov, Michele Folgheraiter
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Parallel robots
soft robotics
energy storage
shoulder joint
cable-driven mechanism
Online Access:https://ieeexplore.ieee.org/document/10835065/
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