One embodiment of the present invention more specifically provides a human simulated joint and a human simulated robot arm having the same can be recovered without structural damage even if an external impact occurs. Here, the human simulated joint includes a first frame, a first socket, a second socket, a shaft, a first coupling part, a second frame, an elastic ligament, an impact absorbing part, and a first force transmission part. The first frame extends in one direction, and the first socket has a first insertion groove provided at one end of the first frame and opened at an upper portion thereof. The second socket has a second insertion groove which is provided inside the first insertion groove and whose top is opened, and the shaft is provided independently of the first socket and the second socket. The first coupling portion has a first ball inserted into the shaft and inserted into the second insertion groove and rotated about the shaft. The second frame has one end connected to the first coupling portion, and the elastic ligament pulls the shaft in the direction of the second insertion groove. The shock absorbing part is provided between the first insertion groove and the second socket and absorbs the shock while the second socket is compressed when the second socket is moved. The first force transmitting part is configured to fold or unfold the first frame based on the second frame. Transmits force to the frame.
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