This paper suggests novel types of joint mechanisms composed of elastic strings and rigid bodies. All of the human hinge joints have the articular capsule and a pair of collateral ligaments. These fibrous tissues make the joint compliant and stable. The proposed mechanism closely imitates the human hinge joint structure by using the concept of tensegrity. The resultant mechanism has several characteristics shown commonly from both the tensegrity structure and the human joint such as compliance, stability, lightweight, and non-contact between rigid bodies. In addition, the role and feature of the human hinge joints vary according to the origins of a pair of collateral ligaments. Likewise, the locations of two strings corresponding to a pair of collateral ligaments produce different function and motion of the proposed mechanism. It would be one of the advantages obtained from the proposed mechanism. How to make a joint mechanism with different features is also suggested in this paper.

Abstract
1. 서 론
2. 인체 경첩 관절
3. 관절 메커니즘의 기본 구조
    3.1 2자유도의 관절 메커니즘 구조
    3.2 메커니즘의 힘 평형 상태
4. 측부 인대 위치에 따른 경첩 관절
    4.1 순수 경첩 관절
    4.2 운반각(carrying angle) 경첩 관절
    4.3 변동 경첩 관절
5. 결 론
References

• 이 건(Department of Electronic Systems Engineering, Hanyang University) | Geon Lee
• 윤덕찬(Department of Electronic Systems Engineering, Hanyang University) | Dukchan Yoon
• 최영진(Department of Electrical and Electronic Engineering, Hanyang University) | Youngjin Choi Corresponding author