[WriterOfMinds]

This is a friend's Master's degree research that he just got published. The full paper should be available for free access in about a week, but in the meantime, he has a summary of it on his blog. https://loonylabs.org/2022/04/27/so-you-want-to-build-a-humanoid-robot/

The design includes a unique biomimetic knee joint that has several properties of the real human knee (four-bar linkage design, large load-bearing contact surface, ability to "lock" in a standing position), as well as some other connections which re-purpose "air muscles" to mimic synovial joints.

[HS]

This looks fantastic! I always got to hear about knee joints when I was growing up because my grandpa is an avid biomechanics professor, I sent him a link.

[MagnusWootton]

Thats really good. I hope he continues on and gets the best robot body of all time,   I'm happy with something artificial for now, because I have a more important thing I'm concentrating on at the moment,  But in the end, it does need a body to be in, so why not really try on it?    But on the surface glance, I cannot see how this joint is actually actuated.

Its good that its on pin joints, they are all you need,  you don't need multi-axis joints if u put pin joints in a row,  its more artificial but it gets the job done and it makes the whole thing easier.   I liked how he went into how pin joints actually break! even tho they are the strongest joint you can make and usually you wouldn't even worry about it.

I just want to get my body out of the way, as long as it doesn't break, and its especially easy to fab thats the main thing for me at the moment.

[WriterOfMinds]

But on the surface glance, I cannot see how this joint is actually actuated.

Well I don't think they have actuators installed yet. That's "future work."