Variable Viscoelastic Joint Module with Built-in Pneumatic Power Source

A variable viscoelastic joint was developed that mimics the principle of human joint drive and uses a pneumatic artificial muscle with an antagonistic arrangement and a magnetic viscous fluid brake. Herein, the versatility of this joint was improved via modularization. The variable viscoelastic joint module is the world's first pneumatic drive module with an internal power source and variable viscoelastic characteristics.