Nagua Cuenca, Luis FernandoRelaño Gibert, CarlosMonje Micharet, Concepción AliciaBalaguer Bernaldo de Quirós, Carlos2022-06-132022-06-132021-07-01Nagua, L., Relaño, C., Monje, C. A., & Balaguer, C. (2021). A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications. Mathematics, 9(13), 1468.2227-7390https://hdl.handle.net/10016/35079A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.25eng© 2021 by the authorsAtribución 3.0 EspañaSoft roboticsContinuum mechanismsModeling of complex systemsKinematic model ofSoft robotsresearch articleMatemáticashttps://doi.org/10.3390/math9131468open access11325Mathematics9AR/0000030860