  In this paper, we present a light-weight, multi- axis compliant tenegrity
joint that is biologically inspired by the human elbow. This tensegrity elbow
actuates by shortening and lengthening cable in a method inspired by muscular
actuation in a person. Unlike many series elastic actuators, this joint is
structurally compliant not just along each axis of rotation, but along other
axes as well. Compliant robotic joints are indispensable in unpredictable
environments, including ones where the robot must interface with a person. The
joint also addresses the need for functional redundancy and flexibility, traits
which are required for many applications that investigate the use of
biologically accurate robotic models.
