Session
2026 Session 5
Location
Orem, UT
Start Date
5-4-2026 11:10 AM
Description
This paper introduces the Nested Split-Tube Flexure (NSTF) as an approach for providing the combined function of a spring and pin joint in a single compact mechanism. Many mechanical applications benefit from the inclusion of a restorative spring force at revolute joints. For example, robots designed to work with or around humans can be safer when a spring placed in series with an actuator provides flexibility or “softness” during impact events [1–4]. Other mechanisms, such as prosthetic or robotic legs or exoskeletons, benefit from the energy returned to the system by a spring placed in series or in parallel with an actuator [5–19]. Other applications of springs at revolute joints might include devices used to tune dynamic responses in rotary shafts [20], optimized mechanisms that require piecewise or non-linear stiffness [21], or joints responsible for orienting [22] or deploying [23–25] structures in space .
Nested Split-Tube Flexure (NSTF)
Orem, UT
This paper introduces the Nested Split-Tube Flexure (NSTF) as an approach for providing the combined function of a spring and pin joint in a single compact mechanism. Many mechanical applications benefit from the inclusion of a restorative spring force at revolute joints. For example, robots designed to work with or around humans can be safer when a spring placed in series with an actuator provides flexibility or “softness” during impact events [1–4]. Other mechanisms, such as prosthetic or robotic legs or exoskeletons, benefit from the energy returned to the system by a spring placed in series or in parallel with an actuator [5–19]. Other applications of springs at revolute joints might include devices used to tune dynamic responses in rotary shafts [20], optimized mechanisms that require piecewise or non-linear stiffness [21], or joints responsible for orienting [22] or deploying [23–25] structures in space .