Abstract: The present invention is related to an articulated joint usable in e.g. robotics and rehabilitation, consisting of a first and second body, rotatably connected to each other, and comprising a third body, equally rotatable around a rotation axis, wherein the third body acts as a lever arm. This lever arm is connected via a spring to a pre-tension mechanism, which may be mounted on the second body, while the rotation of the lever arm with respect to the first body is controlled by an actuator. This construction leads to a joint wherein the position can be controlled independently from the compliance of the joint, thereby yielding a mechanism with improved characteristics compared to existing designs.

Abstract: The present invention is related to an articulated joint usable in e.g. robotics and rehabilitation, consisting of a first and second body, rotatably connected to each other, and comprising a third body, equally rotatable around a rotation axis, wherein the third body acts as a lever arm. This lever arm is connected via a spring to a pre-tension mechanism, which may be mounted on the second body, while the rotation of the lever arm with respect to the first body is controlled by an actuator. This construction leads to a joint wherein the position can be controlled independently from the compliance of the joint, thereby yielding a mechanism with improved characteristics compared to existing designs.