JAMS: A high-dexterity 3-DoF bionic joint actuator with multi-drive hierarchical output and spherical rotation mechanism
JAMS: A high-dexterity 3-DoF bionic joint actuator with multi-drive hierarchical output and spherical rotation mechanism
This paper presents JAMS, a 3-DoF bionic joint actuator inspired by the human hip, featuring a multi-drive hierarchical output and spherical rotation mechanism. It enables omnidirectional rotation around a fixed center, resolving kinematic redundancy and structural bulkiness. Experimental results show a 360° × 250° × 360° operational space and a 95.1% kinematic-fidelity score in tracking human hip trajectories, demonstrating its feasibility for humanoid and wearable robotics.
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The paper introduces JAMS, a 3-DoF bionic joint actuator designed to mimic human hip motion, offering high torque density and omnidirectional rotation. It presents a hierarchical actuation system with a custom dual-MCU controller and demonstrates kinematic fidelity in tracking human hip trajectories.
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Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
operational space
360
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f 360 ° × 250 °×360° and a theoretical rated torque of 21.5 N·m, exhibiting high torque density within a compact volume. Trajectory tracking experiments verify the actuator’s capability to track selected human hip reference trajectories under scaled-duration gait-cycle conditions, with a composite kinematic-fidelity score of 95.1%, demonstrating its fundamental kinematic feasibility. By integrating multi-drive hierar
Open source S5operational space
250
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f 360 ° × 250 °×360° and a theoretical rated torque of 21.5 N·m, exhibiting high torque density within a compact volume. Trajectory tracking experiments verify the actuator’s capability to track selected human hip reference trajectories under scaled-duration gait-cycle conditions, with a composite kinematic-fidelity score of 95.1%, demonstrating its fundamental kinematic feasibility. By integrating multi-drive hierar
Open source S5rated torque
21.5
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f 360 ° × 250 °×360° and a theoretical rated torque of 21.5 N·m, exhibiting high torque density within a compact volume. Trajectory tracking experiments verify the actuator’s capability to track selected human hip reference trajectories under scaled-duration gait-cycle conditions, with a composite kinematic-fidelity score of 95.1%, demonstrating its fundamental kinematic feasibility. By integrating multi-drive hierar
Open source S5degrees of freedom
3
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JAMS: A high-dexterity 3-DoF bionic joint actuator with multi-drive hierarchical output and spherical rotation mechanism
Open source S1
- paper: not_reported
- code: not_reported
- weights: not_reported
- dataset: not_reported
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f 360 ° × 250 °×360° and a theoretical rated torque of 21.5 N·m, exhibiting high torque density within a compact volume. Trajectory tracking experiments verify the actuator’s capability to track selected human hip reference trajectories under scaled-duration gait-cycle conditions, with a composite kinematic-fidelity score of 95.1%, demonstrating its fundamental kinematic feasibility. By integrating multi-drive hierar
Open source S5
JAMS: A high-dexterity 3-DoF bionic joint actuator with multi-drive hierarchical output and spherical rotation mechanism
Open source S1
paper proposes a high-dexterity 3-DoF dexterous joint actuator (JAMS) by in-depth mimicking the bionic advantages of the human hip. Unlike traditional decoupled designs, JAMS introduces a load-adaptive hierarchical actuation strategy that synthesizes power from three parallel motors via customized differential bevel gear and spherical gear trains. This architecture enables omnidirectional rotation around a spatially
Open source S3
Source：International Journal of Robotics Research — Journal metadata · doi.org