Double active universal joint (DAUJ): Robotic joint mechanism for humanlike motions

In this paper, we present a robotic joint mechanism that makes it possible to mimic the humanlike motions. The proposed robotic joint called double ac tive universal joint (DAUJ), generates two-degree of freedom (dof) motion s uppressing rolling by the coupled motions of two independent motors. Mechan ism design and kinematics are mentioned and two application examples; an an thropomorphic finger and an inpipe inspection robot are outlined. The resul ts of basic experiments are reported to confirm the effectiveness of the pr oposed mechanism. Also, we briefly introduce the advantage that the complia nce of the proposed mechanism can be easily controlled by modulating the en gagement period of the magnetic clutch.