Controllable ball-joint for e.g. robot, has artificial muscles i.e. actuators, provided between joint parts, where muscles are hydraulically, electrical, pneumatic driven and part of muscles are replaced by spring element

摘要

The joint has artificial muscles i.e. actuators, provided between the joint parts, where the muscles are hydraulically, electrical, pneumatic driven and the joint is rotatatably movable around three dimensions. The artificial muscles are directly or transversely connected, where the directly connected muscles are movable around two axis and the transversely connected muscles are movable around three axis. A part of the muscles are replaced by spring element. Guiding pins are provided in an outer spherical surface (1) or in an inner spherical surface (2).