ABSTRACT
A biologically motivated, Human Like (HL), robot joint is developed and a neurocontroller is designed to provide motor control signals needed by the joint. The main features of biological joints have been translated into electro-mechanical mechanism applying reverse engineering techniques. The proposed servo-mechanism is capable of providing restricted three dimensional motion analogous to that of a human being joint. The developed mechanism is suitable for the design of robot rotational joints. The advantages of a robot arm constructed from a such spherical servo-mechanism are: fast response, high resolution and high force generation per unit volume.
