JAMS: A high-dexterity 3-DoF bionic joint actuator with multi-drive hierarchical
Overview
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.
From International Journal of Robotics Research — Journal metadata
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · operational space: 360 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 1Source owner not reported
Reported quantity · operational space: 250 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 1Source owner not reported
Reported quantity · rated torque: 21.5 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · degrees of freedom: 3 other · Basis not reported
“JAMS: A high-dexterity 3-DoF bionic joint actuator with multi-drive hierarchical output and spherical rotation mechanism”
Exact source · revision 1Source owner not reported
Evidence dependency changes (2)
- 2026-10-30T19:52:06.512Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T19:51:49.033Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- International Journal of Robotics Research — Journal metadataSignalJAMS: 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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