Patent ID: 8516918

Claim:
A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, the mechanical joint comprising: a base support member; a rotary support member rotably coupled to the base support member; a variable-radius pulley operably coupled between the base support member and the rotary support member for facilitating rotation of the rotary support member about the base support member, the pulley comprising: a sheave body having a circumferential outer surface and a pivot point, the radial distance between the outer surface and the pivot point being variable along a length of the outer surface; at least one tendon groove formed in the outer surface, the tendon groove having a tendon landing surface and sidewalls; and a tendon attachment point within the at least one tendon groove; at least one flexible tendon coupled to the tendon attachment point and having first and second free end portions wrapping around the pulley in opposite directions within the tendon groove; and at least one antagonistic actuator pair coupled to the first and second free end portions with a pair of end connectors, the actuator pair being configured to selectively operate the tendon around the pulley in either direction and create a variable torque between the base and rotary support members.