Design of variable compliance joint mechanism for legged robots

This paper presents a compliant joint mechanism design, called Compliant Ellipsoid Joint (CEJ). The CEJ consists the two main elements which are plate spring and ellipsoid shape. The force range of this joint mechanism can be easily set by the plate spring and the ellipsoid surface parameters. In the first, we modelled the CEJ and propose a mathematical analysis to tune the force range. The performance of CEJ is verified by experimental validation and the average error between calculated and measured angle along the external load is 1.03 degree (at E=210 GPa).