公开(公告)号：WO2019043545A1

公开(公告)日：2019-03-07

申请号：PCT/IB2018/056470

申请日：2018-08-26

Applicant: KHALIFA UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： AWAD, Mohammad ,  GAN, Dongming ,  DIAS, Jorge ,  SENEVIRATNE, Lakmal

IPC: B25J19/06 ,  B25J17/02 ,  F16D3/50

Abstract: A variable stiffness joint and method to alter the stiffness of the joint with multiple stiffness levels is described wherein a plurality of stiffness bits (m) are used for enabling 2 m stiffness level variations for the joint. Each stiffness bit comprises an elastic element in mechanical connection with a clutch (21, 22, 23). The joint revolves with zero stiffness level when all the clutches (21, 22, 23) are disengaged whereas a clutch (21, 22, 23) involves one of the elastic elements which alter the stiffness of the joint. Engaging other clutches (21, 22, 23) involve more elastic elements for altering the joint stiffness and the resultant joint stiffness is determined by adding the stiffness values of all the involved springs (6, 7, 8).