Abstract:
The present invention relates to an elastic joint apparatus (a flexure mechanism) that can be used for various purposes, such as an industrial purpose, a medical purpose, a training purpose, etc regarding human bodies, animals, mechanical devices, and products. More particularly, the present invention relates to an elastic joint apparatus (a flexure mechanism) in which a joint connection means inserted and mounted into a joint means enables linear movements in X-axis, Y-axis and Z-axis directions and rotational movements in altitude, azimuth and axial rotation directions by means of the bending and elastic force of an elastic means, and in which the joint connection means is configured to be separated from and coupled to the joint means by the elastic force of the elastic means in proportion to applied force.

Description:
FIELD OF THE DISCLOSURE 
       [0001]    The present invention relates to a joint apparatus that can implement the functions of a joint of a human body, an animal or a machine and, thus, can be used for various purposes, such as an industrial purpose, a medical purpose, a training purpose, etc. More particularly, the present invention relates to an elastic joint apparatus in which a joint connection means inserted and mounted into a joint means enables linear movements in X-axis, Y-axis and Z-axis directions and enables rotational movements around an X axis, an Y axis and an Z axis, i.e., rotational movements in altitude, azimuth and axial rotation directions, by means of the bending and elastic force of an elastic means, and in which the joint connection means is configured to be separated from and coupled to the joint means by applied force. The joint apparatus can simulate various joint functions such as the functions of being bent, being restored, and being extended, and thus can be used in an animal, a human body, a mechanical apparatus, and an industrial product that require a joint function. 
       BACKGROUND OF THE DISCLOSURE 
       [0002]    In general, the functions of a joint include: 1) the function of transferring force from one side to the other side; 2) the function of changing the direction in which force is transferred when necessary; 3) the function of performing movement in space between one side and the other side, i.e., the function of performing predetermined direction movements of 3-direction linear movements and 3-direction rotational movements and restoration of a location; 4) the function of enabling one side and the other side to form a single structure in the state of being combined; 5) the function of remaining a single structure when external force is not applied and being separated when external force whose strength is equal to or higher than specific strength is applied; and 6) the function of being recombined to perform original functions after the joint has been separated. These joint functions may be applied to an animal, a human body, a mechanical device, or various types of industrial products in a wide range. Examples of the application include the following: 
         [0003]    martial arts training equipment for punching, kicking, bending, twisting, pulling, pushing, etc.; 
         [0004]    artificial joints for a human body and an animal, such as a hip joint, a knee, a shoulder, an arm, etc.; 
         [0005]    various types of health equipment for muscle strengthening training; 
         [0006]    industrial furniture, such as chair legs, regions connecting a seat and legs, bed legs, mattress springs, etc.; 
         [0007]    rehabilitation aid tools, external structure strengthening exoskeletons, and weak muscle strength reinforcing skeleton structures; 
         [0008]    robot joints, crash dummies, and various types of mechanical joints; 
         [0009]    load measuring devices, such as multi-axis load cells; 
         [0010]    construction toys, plastic models, etc. such as Lego models; 
         [0011]    pipe coupling structures; 
         [0012]    infrastructure interfaces of buildings or mechanical equipment support structures, vibration isolation structures, bendable streetlights, utility poles, etc.; 
         [0013]    The martial arts training equipment corresponding to one of the above-described application fields has a disadvantage in that training apparatuses for martial arts or sports (fighting sports, such as wrestling, Judo, etc.) are not suitable for training for bending, choking, and twisting, other than training for hitting, because they have patterned protrusions extending from fixed locations, like Muk Yan Jong, and thus the reactions of target objects to the movements of a human body are not accurately transferred during training. In order to overcome this disadvantage, recently, an installation target object that is composed of a plurality of segment bodies configured to be attached to and detected from the joint regions of a human body in order to more realistically simulate the height, shape and function of the human body has been used. 
         [0014]    However, this installation target object configured to simulate the shape of a human body and composed of the plurality of segment bodies is configured such that the plurality of segment bodies are simply combined to be rotatable with respect to each other, and thus has disadvantages in that the installation target object cannot simultaneously or sequentially simulate the various movements, such as bending, choking, twisting, pressing, pulling, etc., of a human body and in that an effect that is applied to a counterpart by hitting force cannot be realistically sensed. That is, this installation target object has a disadvantage in that during use, it is difficult to have a realistic sense of hitting or the degrees of reaction to various actions, such as bending and choking, or the degrees of reaction to the forms in which force is transferred are unrealistic, and, thus, the effect of training felt by a trainee falls short of his or her expectation. In particular, existing martial arts training apparatuses are not equipped with devices capable of implementing all the above-described six joint functions. 
         [0015]    Meanwhile, conventional medical artificial joints are used with a focus on the facts that principal mechanical components are screwed into holes formed in a bone and a joint connection part is configured not to be separated as much as possible. Accordingly, once an artificial joint has been mounted, it is burdensome and technically difficult to remove the joint. That is, the artificial joint can be removed, replaced or maintained/repaired only by a surgical operation that exerts an influence on a bone of a patient. 
         [0016]    Meanwhile, conventional construction toys maintain their shapes in such a way that a plurality of pieces is assembled through fitting coupling between a male joint portion and a female joint portion. Although the conventional construction toys can freely perform one degree of freedom angular movement, the conventional construction toys are problematic in that two degrees of freedom angular movement is limited and three or more degrees of freedom linear and rotational movement cannot be performed. 
       PRIOR ART 
       [0017]    (Patent document 1) Korean Patent No. 10-1132806 
         [0018]    (Patent document 2) Korean Patent Application Publication No. 10-20-120020727 
       SUMMARY 
     Technical Problem 
       [0019]    The present invention is proposed to overcome the above-described problems, and an object of the present invention is to provide a joint apparatus, which enables 6-degree-of-freedom movement, which can be separated when appropriate external force is applied, and which can be easily mounted without using a special tool. 
         [0020]    Furthermore, an object of the present invention is to provide an elastic joint apparatus, which reacts in proportion to the magnitude of external force, and which is restored when external force is removed. 
         [0021]    Moreover, an object of the present invention is to provide a joint apparatus, which can be applied to various fields, such as an industrial robot field, a medical joint field for rehabilitation, etc. 
       Technical Solution 
       [0022]    In order to accomplish the above objects, the present invention provides a joint apparatus, including: a joint means; an elastic means formed on one side of the joint means; and a joint connection means inserted and mounted into the joint means and configured to directly come into contact with and be held by the elastic means. 
         [0023]    Preferably, a reception member configured to accommodate the joint connection means is disposed in the joint means. 
         [0024]    Preferably, a guide member configured to guide the reception member through movement is fastened to and mounted in the joint means. 
         [0025]    Preferably, the guide member and the reception member are connected by an elastic element. 
         [0026]    Preferably, an elastic means opening is formed in the elastic means, and the joint connection means is inserted into the joint means via the elastic means opening. 
         [0027]    Preferably, the joint connection means inserted into the joint means is supported through equilibrium of anti-elastic forces of the elastic means and the elastic element that act in opposite directions. 
         [0028]    Preferably, the contact surfaces of the joint connection means and the reception member have corresponding male and female shapes or corresponding engaged shapes. 
         [0029]    Preferably, the elastic means includes a plurality of elastic means units, and elastic means cutout slits are formed between the adjacent elastic means units. 
         [0030]    Preferably, the elastic means has one or more bent portions so that the joint connection means can be easily inserted into the joint means. 
         [0031]    Preferably, the elastic means enables elastic deformation in 3 degrees of freedom linear movement directions and 3 degrees of freedom rotational movement directions, and the joint connection means enables 3 degrees of freedom linear movements and 3 degrees of freedom rotational movements with respect to the joint means, thereby enabling 6 degrees of freedom movements. 
         [0032]    A composite joint structure having a linear, surface, or three-dimensional structure can be formed through the coupling of connection links or connection rods. 
         [0033]    Furthermore, the present invention provides a ring-shaped joint structure, including: two holder rings configured to have different diameters; a disk configured to have a diameter lower than those of the holder rings; and a protrusion configured to protrude perpendicularly from the disk; wherein by the joint apparatus the two holder rings are coupled and the holder ring having a smaller diameter is coupled to the disk, and the elastic means of the joint apparatus enables elastic deformation in 3 degrees of freedom linear movement directions and 3 degrees of freedom rotational movement directions. 
         [0034]    Furthermore, the present invention provides training equipment, various types of dolls, and industrial machines and products to which one or more joint apparatuses according to the present invention are applied. 
         [0035]    One or more sensor(s) may be mounted on the joint means or the elastic means, and then may detect applied force or strain. 
         [0036]    Furthermore, the present invention provides a construction toy to which the joint apparatus according to the present invention is applied. 
         [0037]    Furthermore, the present invention provides an artificial joint to which the joint apparatus according to the present invention is applied. 
         [0038]    Furthermore, the present invention provides an artificial joint, including: a first target object; a skeleton-mounted ring configured to surround and fasten the first target object; a second target object; a skeleton-mounted disk configured to fasten the second target object; a joint connection means located between the first target object and the second target object; a reception member configured to accommodate the joint connection means between the first target object and the second target object; first elastic members radially coupled along the internal circumferential surface of the skeleton-mounted ring, and second elastic members radially coupled along the outer circumferential surface of the skeleton-mounted ring; and third elastic members radially coupled along the internal circumferential surface of the skeleton-mounted disk, and fourth elastic members radially coupled along the outer circumferential surface of the skeleton-mounted disk; wherein the first elastic members and the fourth elastic members are coupled to the joint connection means, and the second elastic members and the third elastic members are coupled to the reception member. 
         [0039]    Preferably, the joint connection means includes a joint connection means head and a joint connection rod; and the reception member includes a receptor and a receptor support. 
         [0040]    Preferably, the first elastic members, the second elastic members, the third elastic members, and the fourth elastic members are each plural in number. 
         [0041]    Preferably, the first elastic members hold the joint connection rod; the second elastic members hold the receptor; the third elastic members hold the receptor support; and the fourth elastic members hold the joint connection means head. 
       Advantageous Effects 
       [0042]    The joint apparatus according to the present invention has the advantage of enabling linear and rotational movements in directions in space because the joint connection means inserted and mounted into the joint means enables linear movements in X-axis, Y-axis and Z-axis directions and rotational movements around an X axis, an Y axis and an Z axis in proportion to force externally applied in the state of being supported by the elastic force of the elastic means and, thus, 6 degrees of freedom for movement can be achieved. 
         [0043]    Furthermore, the joint apparatus according to the present invention has the advantage of being applied to various types of sports equipment and apparatuses and thus maximizing martial arts and exercise training effects. 
         [0044]    Furthermore, the joint apparatus according to the present invention has the advantage of being favorable for repetitive use because the joint connection means separated from the joint means can be easily inserted and mounted into the joint means. 
         [0045]    Furthermore, the joint apparatus according to the present invention has the advantage of being usable for an industrial robot field, a medical joint mechanism field for rehabilitation, etc. because the joint apparatus is simple and can simulate the joint functions of a human body. 
         [0046]    Moreover, the joint apparatus according to the present invention has the advantage of being usable for all types of industry products that require a flexible support structure. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0047]      FIG. 1  is a sectional view of a joint apparatus according to a first embodiment of the present invention; 
           [0048]      FIG. 2  is a perspective view showing the body of the joint apparatus of the first embodiment shown in  FIG. 1 ; 
           [0049]      FIGS. 3 and 4  are a perspective view and a front view showing the cutout slits of the joint apparatus according to the first embodiment shown in  FIG. 1 ; 
           [0050]      FIG. 5  is a sectional view showing the guide member of the joint apparatus according to the first embodiment of the present invention; 
           [0051]      FIGS. 6 and 7  are views showing embodiments of the joint connection means and reception member of the joint apparatus according to the first embodiment of the present invention; 
           [0052]      FIGS. 8 and 9  are views showing various shapes of male and female heads; 
           [0053]      FIG. 10  is a view showing various shapes of a connection rod; 
           [0054]      FIGS. 11 and 12  are views showing various shapes of an elastic means; 
           [0055]      FIG. 13  is a view showing applications of elastic means having various shapes; 
           [0056]      FIG. 14  is a view showing various forms according to a second embodiment of the present invention; 
           [0057]      FIG. 15  is a view showing various forms according to a third embodiment of the present invention; 
           [0058]      FIGS. 16 and 17  are views showing examples in each of which a plurality of joint connection means heads is formed according to a fourth embodiment of the present invention; 
           [0059]      FIGS. 18 and 19  are views showing joint apparatuses according to a fifth embodiment of the present invention; 
           [0060]      FIGS. 20 to 23  are views showing examples in which joint apparatuses according to the present invention are connected in various forms; 
           [0061]      FIG. 24  is an exploded perspective view of a sixth embodiment in which joint apparatuses according to the present invention are applied to one or more joint regions of a human body or various types of dummies and dolls; 
           [0062]      FIGS. 25 to 27  are views showing examples of use in which the joint apparatuses according to the present invention are applied to training equipment; 
           [0063]      FIG. 28  is a view showing an example of use in which a load cell is mounted on the joint apparatus according to the present invention; 
           [0064]      FIG. 29  is a view showing an example of use in which the joint apparatus according to the present invention is applied to a construction toy; 
           [0065]      FIG. 30  is a view showing examples of use in which the joint apparatus according to the present invention is applied to an exoskeleton and a muscular strength reinforcement or strengthening structure; and 
           [0066]      FIG. 31  is a view showing examples of use in which the joint apparatus according to the present invention is applied to a cut or damaged internal joint of a human body. 
       
    
    
     DETAILED DESCRIPTION 
       [0067]    A joint apparatus according to the present invention is described in detail with reference to the accompanying drawings for each embodiment. 
         [0068]    The gist of the present invention relates to an elastic joint structure that is capable of 6 degrees of freedom movement. In  FIG. 1 , individual components are shown in sections in order to illustrate the basic concept of the mechanism of a joint apparatus according to the present invention. 
         [0069]    A joint apparatus according to a first embodiment of the present invention includes a joint means  100 , an elastic means  200 , and a joint connection means  300 , as shown in  FIG. 1 . 
         [0070]    The joint means  100  includes a joint body  110 , an reception member  130  located inside the joint body to accommodate the joint connection means  300 , and a guide member  120  configured to guide and support the reception member  130  inside the joint body  110 . The guide member  120  is fastened to a base plate  170 , may be configured in a tubular form on that apart of the reception member  130  can be inserted thereinto, and contains an elastic element  140  so that the inserted reception member  130  can perform rectilinear reciprocal movement. The reception member  130  may include a receptor  160  configured to accommodate the joint connection means  300  while coming into contact with the joint connection means  300 , and a receptor support  150  configured to be inserted into the guide member  120 . 
         [0071]    The joint connection means  300  includes a joint connection means head  310  and a joint connection rod  320 , and is held by the elastic means  200  in radial directions, including upward, downward, leftward and rightward directions. The elastic means  200  may be integrated with one end of the joint body  110 , or may be coupled to one end of the joint body  110  through screw fastening or welding. The other end of the joint body  110  may be coupled to the firm base plate  170  by screw fastening or welding, or the other end of the joint body  110  may be integrated with the firm base plate  170 . The guide member  120  having a smaller diameter, which is perpendicularly fastened to the base plate  170 , is formed in the internal space of the joint body  110 , and the elastic element  140  is inserted into the guide member  120 . One end of the elastic element  140  is fastened to the base plate  170 , and the other end of the elastic element  140  is fastened to one end of the receptor support  150 . 
         [0072]    The joint connection means  300  including the joint connection rod  320  and the joint connection means head  310  is inserted into an elastic means opening  215  from the outside of the joint body  110  to the inside of the joint body  110 , i.e., from the right side of  FIG. 1  to the left side of  FIG. 1 . In this case, the elastic means  200  receives the joint connection means head  310  while the space of the elastic means opening  215  is being widened by insertion force, and then presses and holds the rear half portion of the joint connection means head  310 . The front half portion of the joint connection means head  310  is held by the receptor  160  placed at a proximal location. In this case, the receptor  160  and the receptor support  150  are pushed in a direction in which the elastic element  140  is compressed, in which case the anti-elastic force of the compressed elastic element  140  balances the anti-elastic force of the elastic means  200 , and thus the pushed and inserted receptor  160  and the joint connection means head  310  are held and maintained in a predetermined space. As shown in  FIG. 1 , the joint connection means head  310  may be formed in a spherical shape, in which case the receptor  160  may be formed in a concave semi-spherical shape. It will be apparent that the joint connection means head  310  and the receptor  160  may be formed in any shape in which they can be coupled to each other in a male and female coupling manner or in an engaged manner. 
         [0073]    The guide member  120  maintains the receptor  160 , the receptor support  150 , and the elastic element  140  in a line as much as possible. Furthermore, a spatial gap that is generated in accordance with the difference between the width of the guide member  120  and the width of the receptor support  150  determines the range of accommodation of the slopes of the receptor  160  and the joint connection means head  310 . This structure is characterized in that in particular, cutout slits having a width equal to that of the receptor support  150  are formed to a predetermined length in the side of the guide member  120  and thus the range of accommodation of the slopes can be further extended. In contrast, the range of the axial linear movement of the receptor  160  is determined by the difference between the length of the guide member  120  perpendicularly extending from the base plate  170  and the total length of the elastic element  140  and the receptor support  150  extending from the base plate  170 . In particular, the contact surfaces of the elastic means  200  and the joint connection means head  310  or joint connection rod  320  and the contact surfaces of the joint connection means head  310  and the receptor  160  enable sliding movement, and thus the joint connection means head  310  and the joint connection rod  320  enable free axial rotation (rotational movement around the X axis in  FIG. 2 ). From the standpoint of the joint connection means head  310 , the receptor  160  and the components connected adjacent thereto, the above structure enables three spatial linear movements (rectilinear translational movements in the X-axis, Y-axis and Z-axis directions in  FIG. 2 ) and three rotational movements (rotational movements around the X axis, the Y axis, and the Z axis in  FIG. 2 ) when force is applied, enables return to original locations when applied force is removed, or enables responsive movements to new locations when applied force is changed. 
         [0074]    As shown in  FIG. 2 , the elastic means  200  may be separated by a plurality of elastic means cutout slits  220 , and may be composed of a plurality of elastic means units  210 . As shown in  FIG. 3 , a plurality of joint body cutout slits  113  is formed through the joint body  110 .  FIG. 4  is a front view of the joint apparatus showing the elastic means cutout slits  220  and the joint body cutout slits  113  of  FIGS. 2 and 3 . 
         [0075]    When the elastic means  200  is composed of the plurality of elastic means units  210 , as shown in  FIGS. 2 and 3 , the mounting of a joint is described. The joint connection means head  310  and the joint connection rod  320  are pushed and inserted into the elastic means opening  215 , and are mounted into the joint body  110  while the gaps on the entrance side of the elastic means units  210  are being extended. In this case, the elastic means units  210  are pushed toward the receptor  160 , and thus the elastic means opening  215  is widened. Once the joint connection means head  310  has been inserted into the joint body  110 , the elastic means units  210  are returned to their original locations. In contrast, when the joint connection means head  310  is pulled in the opposite direction, the elastic means units  210  are bent in the opposite directions, and thus the gaps on the entrance side are extended in the opposite directions and the opening  215  is also widened in the opposite directions. Alternatively, when the joint connection means head  310  is bent in a perpendicular direction, first side ones of the entrance portions of the elastic means units  210  are bent in a direction in which they are pushed and inserted and second side ones of the entrance portions of the elastic means units  210  are bent in a direction in which they are extended to the outside, and thus the elastic means opening  215  may be widened and the joint connection means head  310  may be separated from the elastic means  200  and the receptor  160 . 
         [0076]    The elastic means  200  holds the rear side of the joint connection means head  310  and a part of the joint connection rod  320  near the joint connection means head  310  over an overall radial range of 360 degrees around the X axis. Slight gaps are present among the individual elastic means units  210 . When the joint connection means head  310  or receptor  160  is greatly moved in a specific direction, the gaps among the plurality of elastic means units  210  are extended. When these gaps are extended, the joint connection means head  310  and the receptor  160  can be separated through the extended gaps between the elastic means units  210 . In the state in which the joint connection means  300  has been inserted into the joint body  110 , the joint connection means  300  can perform three-axis rectilinear translational movements and three-axis rotational movements in response to external force in the state of being supported by the elastic member  200 . Referring to  FIGS. 2 and 3 , the joint connection means  300  is shown as being able to perform rectilinear translational movements in the X-axis, Y-axis and Z-axis directions and rotational movements in rotation directions around the X axis, the Y axis and the Z axis with respect to the joint body  110 . 
         [0077]    As shown in  FIG. 1 , a space portion  111  is formed inside the joint body  110 , the base plate  170  is formed at one end of the joint body  110 , and the elastic means  200  is provided on the other end of the joint body  110 . The elastic means  200  may be formed to be integrated with the joint body  110 , or may be formed to be fastened to the other end of the joint body  110  by a fastening means (not shown). 
         [0078]    Meanwhile, the guide member  120  formed inside the joint means  100  protrudes perpendicularly from the base plate  170  toward the elastic means  200  inside the joint body  110 , as shown in  FIG. 1 . The guide member  120  may be formed in a tube shape so that it can accommodate and guide the protruding receptor support  150  of the reception member  130 , as shown in  FIG. 5( a ) . In this case, the elastic element  140  is provided inside the tube-shaped guide member. Furthermore, the guide member  120  may be formed in a column shape so that it can be inserted into the depressed receptor support  130  and guide the receptor support  130 , as shown in  FIG. 5( b ) . In this case, the elastic element  140  is provided outside the column-shaped guide member. 
         [0079]      FIGS. 6 and 7  show an embodiment of a joint connection means  300  having a spherical head and an embodiment of an reception member  130  accommodating the joint connection means  300 , respectively. A male spherical head  310  or a female receptor  160  may be configured in an integrated form, as shown in  FIGS. 1 and 6   a.  Alternatively, the male spherical head or female receptor may be formed in such a way that two members  301  and  302  (or  131  and  132 ) are screwed into each other at an end or center of a connection rod as desired, as shown in  FIGS. 6 b    and  7   a.  Meanwhile, the spherical head or receptor head  310  may be configured to have various shapes including not only a sphere, a cone, a truncated cone, and an ellipse but also polygons, such as a disk, a triangle, a rectangle and the like, as shown in  FIG. 8 . The spherical head or receptor head  310  may be configured in a form in which a specific male head can be engaged with a female head paired with the male head and contact surfaces thereof can be engaged with each other. The contact portion of the joint connection means  300  and the contact portion of the reception member  130  may be formed in corresponding shapes, and thus may be formed such that they can make smooth sliding contact with each other through male and female coupling. Meanwhile, the male head  301  and the connection rod  302  or the female head  132  and the connection rod  131  may be coupled to each other through hinge coupling, as shown in  FIGS. 6 c    and  7   b.    
         [0080]    The female heads  301  and  132  may be engaged with each other in a pairwise fashion. A coupling surface may form various coupling surfaces, such as a plane, a male-female spherical surface, a male-female depressed and projected surface, a male-female triangle, a male-female diamond, etc. In  FIG. 9 , hinge heads (see  FIG. 9 a   ), saddle heads ( FIG. 9 b   ), and ellipsoidal heads (see  FIG. 9 c   ) in a coupling region of a human body joint are shown as examples of the male and female heads  301  and  132 . In this case, the male and female heads may be the receptor  160  and the joint connection means head  310 , respectively, or may be the joint connection means head  310  and the receptor  160 , respectively. 
         [0081]    The connection rod  320  is a rod that connects the joint means  100  and the joint means  100 . The connection rod  320  may be basically formed in a cylindrical shape having a circular cross section, or may be formed in various shapes having other specifically shaped cross sections. The female receptor head  132  and the male spherical head  301  may be formed at both ends of the connection rod  320  in various combinations.  FIG. 10 a    shows an example in which paired male spheres  3102  are formed at both ends of a connection rod, respectively. Female receptors may be formed at both ends of a connection rod, or a male sphere and a female receptor may be formed on the one and other ends of a connection rod, respectively. The connection rod may form a one-dimensional (1D) linear shape (see  FIG. 10 a   ), may form a 2D arrangement (see  FIG. 10 b   ) in which the heads of the rod can form angles with each other, or may form a 3D structure (see  FIG. 10 c   ), a multi-axis interfacing rod structure. Meanwhile, the connection rod may have a circular cross section, as shown in the examples of  FIG. 10 , or may have a polygonal cross section, such as an elliptical cross section, a triangular cross section, a rectangular cross section, or the like, as desired. This connection rod may be fitted into one or more other connection rods in a screw manner, and thus may form structures having various shapes. Furthermore, the connection rods and the connection rod structures may perform various 6 degrees of freedom joint functions through combination with the elastic means units. 
         [0082]      FIG. 11  shows embodiments showing various shapes of the elastic means  200  (the elastic means unit  210  or elastic means unit assembly), which is a key component of a joint structure. That is, there are shown various examples in which only the upper portions of the longitudinal sections of the elastic means  200  of the joint apparatus  1  based on a symmetrical axis along a longitudinal direction are illustrated. In each longitudinal section of  FIG. 11 , the upper portion of the elastic means  200  is fastened to the joint body  110  of  FIG. 1  and not moved by external force, and a center portion extending downward from the upper portion of the elastic means  200  at a predetermined angle is configured to be bent by external force, particularly in the lateral direction of the diagram. The lower portion of the elastic means  200  extending from the center portion at a predetermined angle while being bent may be additionally bent by external force in a lateral direction. The elastic means units  210  may be formed in the combination of various angles among an upper portion, a center portion and a lower portion, as shown in  FIG. 11 . The elastic means units  210  may be formed in a structure in which they have a plurality of center portions and are bent at various angles, like in a structure including an upper portion, a first center portion, a second center portion, and a lower portion, as shown in  FIG. 11   h.    
         [0083]      FIG. 12  shows only the center portion and lower portion of each elastic means unit  210 .  FIG. 12 a    shows a case in which the surfaces of an elastic means  200  are planar,  FIG. 12 b    shows a case where a curved surface is sequentially changed to a convex surface, a concave surface and a convex surface in a direction from a center portion to a lower portion, and  FIG. 12 c    shows a case in which a curve surface is sequentially changed from a concave surface, a convex surface and a convex surface in a direction from a center portion to a lower portion. As described above, the surfaces of each elastic means unit  210  may be configured in the arrangement of one or more planar surfaces, one or more concave surfaces, and one or more convex surfaces according to the number of bent portions, as desired. 
         [0084]    Various embodiments in which spherical joint connection means heads  310  are mounted into elastic means  200  having various shapes are shown in  FIG. 13 . These embodiments are examples to which an elastic means  200  that is bent to form an upper portion, a center portion and a lower portion is applied. One end of the elastic means  200  is coupled to the joint body  100 , and the other end thereof protrudes to the central axis of the space portion  111  and holds the joint connection means  300 . 
         [0085]    Various embodiments in which the above-described components are combined into a joint structure are shown in  FIG. 14 .  FIG. 14 a    shows a configuration in which an elastic means  200  mounted on a closed-type mounting base plate  170  and having three bent angles directly holds the spherical joint connection means head  310  and joint connection rod  320  of a joint connection means  300  without requiring the joint body  110  of  FIG. 1  and the movement of a receptor head  160  and a receptor support (a receptor rod)  150  is controlled by an elastic element  140  and a guide member  120  mounted on the mounting base plate  170 . Meanwhile,  FIG. 14 b    shows a configuration in which an elastic means  200  having one or more bent angles is mounted in the center portion of a mounting base plate  170  having a hole in the center portion thereof without requiring the joint body  110 , the elastic means holds a receptor head  160  and a receptor rod  150 , and the elastic means  200  radially and directly coupled to the outside portion of the mounting base plate  170  and having three bent angles holds a spherical joint connection means head  310  and a joint connection rod  320 .  FIG. 14 c    shows a configuration in which a mounting base plate  170  and a joint body  110  are integrated with each other, unlike in the configuration of  FIG. 14   b,  and an elastic means  200  mounted on the inner circumferential surface of the joint body  110  holds a spherical joint connection means head  310  and a joint connection rod  320 .  FIG. 14 d    shows a structure in which two or more elastic means configured to hold a spherical joint connection means head  310  and a joint connection rod  320 , like in configuration of  FIG. 14   c,  and thus can more stably hold the spherical joint connection means head  310  and the joint connection rod  320 . 
         [0086]      FIG. 15  shows embodiments in which a joint connection means head  310  and a receptor  160  have various shapes, not spherical shapes.  FIG. 15 a    shows an example in which a wide planar contact surface is present between two heads,  FIG. 15 b    shows an example in which a significantly narrow contact surface is present, and  FIG. 15 c    shows an example in which a contact surface has a depressed and projected shape. 
         [0087]      FIGS. 16 and 17  show an embodiment of a joint apparatus  1  in which two or more joint connection means heads  3111  are formed at one end of a joint connection means  300 . This joint apparatus  1  is basically the same as the joint apparatus  1  of  FIG. 1  in terms of concept, but is different only in that the structure of the joint connection means  300  functions as the guiding cylinder of the elastic element  140  and thus the relatively long guide member  120  is not necessarily required, unlike in  FIG. 1 . In this embodiment, the joint connection means  300  has a column-shaped joint connection means body  3201 , the plurality of joint connection means heads  3111  are connected to one end of the joint connection means body  3201  by joint connection means links  3121 , an auxiliary connection rod  323  is connected to the other end of the joint connection means body  3201 , and the auxiliary connection rod  323  is responsible for the function of the joint connection rod  320 . Furthermore, an insertion hole  321  configured to accommodate the contact element  1301  of a joint means is formed in the one end side portion of the joint connection means body  3201  to which the joint connection means heads  3111  are connected. In the state in which the contact element  1301  of the joint means has been inserted into the insertion hole  321  and has come into contact with an insertion hole bottom  3112 , the plurality of joint connection means heads  3111  are inserted into and accommodated in a joint body  110  in the state of being supported by the elastic force of an elastic means  200 . When external force, such as pulling force or bending force, is applied to a joint apparatus, particularly the joint connection means  300 , any one of the plurality of joint connection means heads  3111  may be separated from the joint body  110 , and two or more joint connection means heads  1111  may be separated. In this case, when one joint connection means head  3111  starts to be separated from the joint body  110 , the remaining other joint connection means heads  3111  do not receive restoring force from the elastic member  200  on a partial side thereof, and thus are easily and sequentially separated. 
         [0088]      FIG. 18  shows a joint apparatus  1 , in which 6 degrees of freedom movements are generated by a head contact surface and a connection rod, as an application of the embodiment of  FIG. 15 c    in which the contact surface between the two heads has a depressed and projected shape. Portions A, B and C of  FIG. 18  show arrangements of ball bearings. The ball bearing arrangement A is located between a rod-shaped receptor support  150  and an elastic means  200  or between a joint connection rod  320  and an elastic means  200 , and allows male and female heads (i.e., a receptor  160  and a joint connection means head  310 ) and the joint connection rod  320  to rotate on their central axis. The ball bearing arrangement B is located between the outside body  1601  of the male and female heads  160  and  310  and the elastic means  200 , and the ball bearing arrangement C is located between the outside body  1601  of the male and female heads  160  and  310  and the male and female heads. Even when only one of the bearing arrangements A, B and C or only any one of pairs of A and B, A and C, and B and C is present, the rotating force of a shaft can be transferred from a head on one side to a head on the other side. In this structure, the male and female heads are coupled to each other and thus a power shaft is rotated on its axis, and the male and female heads and connection rods enable the force of a rotating shaft to be transferred to a head on the other side while allowing movement to some extent in all the directions of 6 degrees of freedom. 
         [0089]    Meanwhile, a plurality of blade-shaped surfaces D protruding from the surface of the outside body of the male and female heads may be located in gaps between a plurality of elastic units radially located, and thus may prevent the outside body of the male and female heads from being rotated. In this case, the head outside body is not rotated, and only the rotating shaft and the ball bearing arrangement C are rotated. 
         [0090]      FIG. 19  shows the configuration of the rotation prevention blades D of  FIG. 18  in greater detail. As shown in  FIG. 19 , a spherical joint connection means head  310  and a receptor head  160  are coupled to each other in the state in which protrusions  310   a  and depressions  160   a  have been formed on the contact surfaces of the spherical joint connection means head  310  and the receptor head  160 . Accordingly, when a connection rod  320  or  150  on one side generates rotating force, the rotating force may be transferred to a connection rod  150  or  320  on the other side. However, one or more blades D 1  protrude perpendicularly from the outer circumferential surfaces of the connection rods and are located in gaps between elastic units  210  protruding from a joint body  110  toward the center, thereby stopping the rotation of the rotating shaft on its axis. Furthermore, one or more blades D 2  may protrude perpendicularly from the outer circumferential surfaces of the spherical joint connection means head  310  and the receptor head  160  and may be located in gaps between a plurality of adjacent elastic means units  210 , thereby stopping the rotation of the connection rods  150  and  320  and the male and female heads  160  and  310  on their central axis. 
         [0091]      FIG. 20  shows a state in which joint apparatus units in each of which a spherical joint connection means head  310  is added to the joint apparatus of  FIG. 1  on the other side (the left side of the drawing) of the base plate  170  are connected in series. Meanwhile,  FIG. 21  shows a structure in which the joint apparatuses of  FIG. 1  are symmetrically provided in a pairwise fashion while sharing a base plate  170  and thus a plurality of joint apparatus units may be connected in series via connection rods at both ends.  FIG. 22  shows an embodiment in which two joint apparatus units are disposed in the state of being bent at right angles while sharing a connection link  151  having a quarter fan-shaped section and, thus, can operate as a single joint structure.  FIG. 23  shows an embodiment in which three joint apparatus units are disposed at angular intervals of 120 degrees while sharing a connection link  151  having a triangular cross section and, thus, can operate as a three-directional joint structure. As described above, the joint apparatus units may form a 1D joint apparatus structure, a composite 2D joint apparatus structure or a composite 3D joint apparatus structure according to the shape of the connection link  151 . 
         [0092]      FIG. 24  shows an example in which a plurality of joint apparatuses is applied particularly to a joint region of a dummy or a doll having a human body shape. When a dummy joint is subjected to a pushing action, a pulling action, a bending action, a hitting action, or a twisting action performed by a user, the dummy joint needs to show a reaction similar to that of a corresponding region of a human body. That is, it is necessary to receive the realistic feedback of the reaction of the dummy to external force. The shoulder joint portion of a human dummy is described as an example. A right ring-shaped joint structure corresponding to a torso-side joint and an arm-side ring-shaped joint structure (on the left side of  FIG. 24 ) coupled to the right ring-shaped joint structure are shown in  FIG. 24 . Each of the ring-shaped joint structures includes two concentric holder rings ( 161 ;  161   a  and  161   b ), a disk  163  located inside the inner holder ring  161   b,  a connection tube  165  configured to protrude vertically from the center of the disk, two joint means ( 100 ; i.e., P 3  and P 4 ) configured to connect the outer holder ring  161   a  and the inner holder ring  161   b,  and two joint means ( 100 ; i.e., P 1  and P 2 ) configured to connect the inner holder ring  161   b  and the disk  163 . The arm-side joint has the same structure as the torso-side joint. 
         [0093]    Components provided to connect the two ring-shaped joint structures include the connection tube  165  of the right ring-shaped joint structure, and the connection rod  313  of the left ring-shaped joint structure configured to be inserted into and coupled to the connection tube  165 . A fitting hole  165   a  is formed in the connection tube  165 , and guide grooves  165   b  are formed through the inner surface of the connection tube. Furthermore, an elastic protrusion  313   a  configured to be fitted into and coupled to the fitting hole  165   a  of the connection tube  165  and a guide protrusion  313   b  configured to be guided through the guide groove  165   b  are formed on the surface of the connection rod  313 . 
         [0094]    In an application of a human body joint, holder rings  161 , a disk  163 , and joint means  100  (P 1 , P 2 , P 3 , and P 4 ) may be symmetrically mounted on one side of the connection rod  313 , as shown in  FIG. 24 . In the state in which the connection rod  313  protruding from this structure has been combined with the connection tube  165  into a single connection rod, when this connection rod is held and bent in a vertical direction, external force is applied to the joint means P 1  and P 2 , and thus the disk  163  may be separated from the inner holder ring  161   b.  Furthermore, when a hit is applied to the connection rod in a vertical direction, external force is applied to P 3  and P 4 , and thus the inner holder ring  161   b  may be separated from the outer holder ring  161   a.  In a similar manner, when P 3  and P 4  are operated by bending force in a lateral direction, the inner holder ring  161   b  may be separated from the outer holder ring  161   a.  When hitting force is applied in a lateral direction, P 1  and P 2  are operated, and thus the disk  163  may be separated from the inner holder ring  161   b.    
         [0095]      FIG. 25  shows an example of martial arts training equipment, which is mounted and used on a wall or a curved column, as an application of joint units. Training units which have the form of a cylinder made of wood, metal, plastic, or flexible material, such as rubber, surrounding one of wood, metal, and plastic, and whose first ends are spherical heads and whose second ends have spherical or other shapes are basically used. The training units U include flanges having elastic joint units at center portions thereof and fastening screw holes on the peripheral portions thereof. In  FIG. 25   a,  the first ends of the training units U are fastened to a wall  401 , a high-rigidity planar plate  410  is attached to the second ends of the training units U, grid-shaped grooves  411  are formed in the planar plate  410 , the flanges of the training units U are inserted into the grooves  411 , and the training units U are slid to required locations and fastened by screws. A plurality of training units may be mounted on a planar plate, and this structure may be used as training equipment.  FIG. 25 b    shows an example of curved training equipment to which a curved plate  420  mounted on a curved column  402  instead of a wall is attached. 
         [0096]      FIG. 26  shows Muk Yan Jong (see  FIG. 26 a   ) or punching bag-shaped training equipment (see  FIG. 26 b   ) that is formed by mounting one or more belts  430  on a column-shaped object and then mounting the training units U on the belts  430  at desired locations. These cases are characterized in that a column-shaped object or a punching bag body, and a column supporting the column-shaped object or a chain hanging the punching bag body can be replaced with the joint apparatus according to the present invention and then can be used. 
         [0097]    Meanwhile,  FIG. 27  shows an example of a human body doll that is constructed by connecting respective parts of a model of a human body by the joint apparatuses  1  according to the present invention. In this example, the respective parts are connected by the joint apparatuses  1  in a plurality of hatched joint regions J. The training of martial arts can be effectively performed using this model of a human body. In this case, it will be apparent that the joint apparatus according to the present invention may he applied not only to the portions illustrated in  FIG. 27  but also to all types of human body joints and then may implement joint functions. 
         [0098]    Furthermore, a load cell sensor may be constructed by mounting a strain gauge SG on a part of the joint apparatus  1  of the present invention, for example, a surface of the elastic means  200 , as shown in  FIG. 28 , and then connecting the strain gauge SG to a Wheatstone bridge circuit, and then may determine external force or strain applied to the joint apparatus in real time through the measurement of the external force or strain. 
         [0099]      FIG. 29  shows an example in which the joint apparatuses according to the present invention are applied to a construction toy that simulates a human body. It can be seen that respective parts of the toy are constructed by assembling and connecting the joint apparatuses  1  of the present invention by connecting rods. 
         [0100]      FIG. 30  shows an embodiment of a muscle strengthening exoskeleton structure using the joint apparatuses according to the present invention. This muscle strengthening exoskeleton structure may be constructed by perpendicularly connecting two joint units, and then may be used to support a corresponding joint region of a user who lost and cannot use all or part of the functions of a joint, such as a knee or neck joint (not shown). Referring to  FIG. 30   a,  each joint connection means including a spherical head  511  and each reception member including a receptor head  521  accommodating the joint connection mean are fastened to and mounted on a ring member  400 , surrounding a joint region, by elastic members  210   a  and  210   b.  The spherical head  511  of each joint may be held by the second elastic member  210   b,  and the receptor head  521  may be held by the first elastic member  210   a.  In particular, as shown in  FIG. 30   b,  a male protrusion  513  and a female groove  523  may be formed on the spherical head  511  and receptor head  521  of the joint, respectively, and thus the joint may be bent only in a direction in which the corresponding joint, for example, a knee joint, is bent. 
         [0101]      FIG. 31  shows an embodiment of a joint apparatus that connects two bones when a defect occurs in a part of a bone in the internal skeleton structure of a human body. When a joint region between an upper bone shown in the upper portion of the drawing and a lower bone shown in the lower portion thereof does not perform joint functions due to cutting or damage, the lost joint functions should be replaced using an artificial joint structure. A skeleton-mounted ring  620  is mounted on the upper bone through screw fitting, bonding fitting or belt-type fitting. First elastic means  210   a  are radially disposed along the internal circumferential surface of the skeleton-mounted ring  620 , and the first elastic members  210   a  fasten and hold the joint connection rod  320  of a joint connection means  300 . Second elastic means  210   b  are radially disposed along the outer circumferential surface of the skeleton-mounted ring  620 , and the second elastic members  210   b  hold the rear end of a receptor  160  and a receptor support  150 . 
         [0102]    In contrast, a skeleton-mounted disk  610  is fastened to and mounted on the upper surface of the lower bone by a fastening and coupling method, such as screw fitting, bonding fitting, or belt-type fitting. Third elastic means  210   c  are radially disposed along the internal circumferential surface of the skeleton-mounted disk  610 , and the third elastic members  210   c  fastens the lower end of the receptor support  150 . Furthermore, fourth elastic means  210   d  are radially disposed along the outer circumferential surface of the skeleton-mounted disk  610 , and the fourth elastic members  210   d  hold the joint connection means  300 , the rear surface of the joint connection means head  310 , and a partial surface of the joint connection rod  320 . 
         [0103]    In this case, the joint connection means head  310  and the receptor  160  are configured to have male and female surfaces, respectively, and maintain sliding contact, and thus a relative angular and linear range between the joint connection rod  320  and the receptor support  150  may be freely changed in an intended direction as desired, like in a joint of a human or an animal. The joint connection rod  320  and the receptor support  150  are simply held by the elastic members  210 . Accordingly, when excessive force exceeding the limit of the restoring force of the elastic members  210  is applied, the joint connection rod  320  and the receptor support  150  are separated from each other, or are detached from each other in a serious case, thereby generating an effect identical to that of dislocation. Accordingly, the upper bone and the lower bone perform their original joint functions by means of the skeleton connection artificial joint apparatus using the joint apparatus according to the present invention. 
         [0104]    The specific embodiments of the present invention have been described in detail above. However, it will be apparent to those having ordinary knowledge in the art to which the present invention pertains that the spirit and scope of the present invention are not limited to those specific embodiments and various modifications and alterations are possible within orange that does not depart from the gist of the present invention. 
         [0105]    Accordingly, the embodiments described above are provided to tell the scope of the present invention to those having ordinary knowledge in the art to which the present invention pertains. Accordingly, it should be appreciated that the embodiments described above are illustrative in all aspects but are not limitative. The present invention is defined by the scope of the claims. 
         [0000]    
       
         
               
             
               
               
             
           
               
                   
               
               
                 &lt;Description of Reference Numerals of the Drawings&gt; 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                 1: joint apparatus 
                   
               
               
                 100: joint means 
                 110: joint body 
               
               
                 111: space portion 
                 113: joint body cutout slit 
               
               
                 120: guide member 
                 130: reception member 
               
               
                 1301: contact element 
                 131: first reception member 
               
               
                 132: second reception member 
                 140: elastic element 
               
               
                 150: receptor support 
                 151: connection link 
               
               
                 160: receptor 
                 160a: depression 
               
               
                 1601: outside body 
                 161: holder ring 
               
               
                 161a: outer holder ring 
                 161b: inner holder ring 
               
               
                 163: disk 
                 165: connection tube 
               
               
                 165a: fitting hole 
                 165b: guide groove 
               
               
                 170: base plate 
                 200: elastic means 
               
               
                 210: elastic means unit 
                 210a: first elastic member 
               
               
                 210b: second elastic member 
                 210c: third elastic member 
               
               
                 210d: fourth elastic member 
                 215: elastic means opening 
               
               
                 220: elastic means cutout slit 
                 300: joint connection means 
               
               
                 301: first joint connection means 
                 302: second joint connection means 
               
               
                 310, 3111: joint connection 
                 310a: protrusion 
               
               
                 means head 
               
               
                 3102: male sphere 
                 320: joint connection rod 
               
               
                 3111: joint connection means head 
                 3112: insertion hole bottom 
               
               
                 3121: joint connection means link 
                 313: connection rod 
               
               
                 313a: elastic protrusion 
                 313b: guide protrusion 
               
               
                 3201: joint connection means body 
                 321: insertion hole 
               
               
                 323: auxiliary connection rod 
               
               
                 400: ring member 
                 401: wall 
               
               
                 402: curved column 
                 410: planar plate 
               
               
                 420: curved plate 
                 430: belt 
               
               
                 511: spherical head 
                 513: male projection 
               
               
                 521: receptor head 
                 523: female depression 
               
               
                 610: skeleton-mounted disk 
                 620: skeleton-mounted ring