A General Arthropod Joint Model and its Applications in Modeling Human Robotic Joints

Bearings are common rotational units, but these monocentric units do not realize high bio-imitability in exoskeleton robots. A way to bionic motion is with an n-bar linkage mechanism within bearings, the resultant joints can become complex. Herein, we propose a joint model based on anatomy of grasshopper that consists pair conjugate surfaces and flexible connection body. An anatomical experiment involving crabs lobsters reveals proposed exists among crustaceans, which makes it general structure for arthropods. After measuring kinematic properties crab lobster joints, have modified robotics applications. optimization algorithm design joint. prototype fabricated its characteristics verified. The arthropod promising mechanical unit