Resumen
[0001] The invention describes a link (1) for a soft joint comprising a proximal (2p) transverse plate and a distal (2d) transverse plate connected to each other by an elastic longitudinal element (3) arranged along a soft longitudinal axis (E<LB>) of the link (1). The proximal (2p) and distal (2d) transverse plates also comprise longitudinal holes (4) located around the elastic longitudinal element (3), said peripheral longitudinal holes (4) being configured for the passage of respective traction tendons (5) intended to cause the bending of a joint including the soft link (1). In addition, the proximal (2p) and distal (2d) transverse plates lack radial symmetry relative to the longitudinal soft axis (E<LB>). The invention also describes a joint (10) formed by several links (1).
Reivindicaciones
1. Link (1) for soft joint, comprising a proximal transverse plate (2p) and a distal transverse plate (2d) connected to each other by an elastic longitudinal element (3) arranged along a soft longitudinal axis (E<LB>) of the link (1); wherein the proximal (2p) and distal (2d) transverse plates comprise longitudinal holes (4) located around the elastic longitudinal element (3), said peripheral longitudinal holes (4) being configured for the passage of respective traction tendons (5) intended to cause the bending of a joint including the link (1), characterized in that the proximal (2p) and distal (2d) transverse plates lack radial symmetry relative to the longitudinal soft axis (E<LB>). 2. Link (1) according to claim 1, wherein the proximal (2p) and distal (2d) transverse plates have an essentially polygonal shape. 3. Link (1) according to claim 2, wherein the proximal (2p) and distal (2d) transverse plates have a shape selected from: triangular, square, pentagonal, hexagonal, heptagonal, octagonal, enneagonal or decagonal. 4. Link (1) according to claim 1, wherein the proximal (2p) and distal (2d) transverse plates have a shape such that the distance between their edges and said soft longitudinal axis (E<LB>) varies continuously between a minimum value and a maximum value. 5. Link (1) according to claim 4, wherein the proximal (2p) and distal (2d) transverse plates have a shape selected from: circular, elliptical, and oval. 6. Link (1) according to any of the preceding claims, wherein the elastic longitudinal element (3) lacks radial symmetry in relation to the soft longitudinal axis (E<LB>). 7. Link (1) according to claim 6, wherein the longitudinal elastic element (3) has the shape of a polygonal cross section prism. 8. Link (1) according to any of the preceding claims, wherein the longitudinal holes (4) are angularly equispaced relative to the soft longitudinal axis (E<LB>). 9. Link (1) according to any of the preceding claims, wherein the longitudinal holes (4) are located in positions adjacent to radially protruding portions of the proximal (2p) and distal (2d) transverse plates in relation to the soft longitudinal axis (E<LB>). 10. Link (1) according to any of the preceding claims, wherein the peripheral longitudinal holes (4) are located in positions adjacent to radially recessed portions of the proximal (2p) and distal (2d) transverse plates relative to said soft longitudinal axis (E<LB>). 11. Link (1) according to any of the preceding claims, wherein the elastic longitudinal element (3) and the proximal (2p) and distal (2d) transverse plates constitute a single piece made of elastic material. 12. Link (1) according to any of the preceding claims, wherein the elastic longitudinal element (3) is made of a material that has a rigidity of between 40 and 100 Shore Hardness A. 13. Link (1) according to any of the preceding claims, which is made of a material with magnetorheological properties whose rigidity can be modified according to an applied magnetic field. 14. Soft joint (10) comprising at least one link (1) according to any of claims 1-13 and traction tendons (5) that connect said links (1) together, wherein the links (1) are arranged in such a way that its elastic longitudinal elements (3) are aligned to form a soft longitudinal axis (E<LB>) common to all the links (1) that make up the joint (10), and wherein the traction tendons (5) pass through the respective longitudinal holes (4) of each link (1) and are fixed to the distal transverse plate (2d) of the most distal link (1) of the joint (10). 15. Soft joint (10) according to claim 14, wherein a joint base (10) formed by, or attached to, the proximal (2p) transverse plate of the most proximal joint (1) is rotatable about the soft longitudinal axis (E<LB>). 16. Soft joint (10) according to any of the claims 14-15, wherein the traction tendons (5) are connected to respective servomotors located next to the base of the joint (10). 17. Soft joint (10) according to any of the claims 14-15, wherein the traction tendons (5) are made of a shape memory material whose temperature is controlled through respective current control circuits.
