Self Locking Joints

[AkshaySunna]

Are the joints Self - Locking, or are we using an external mechanism ?

[pruthakj]

Hi, thank you for your question. One of the core design principles of OpenArm 01 was backdrivability, as it is essential for implementing bilateral control. For this reason, the joints are intentionally not self-locking. We want the joints to be driven by external forces: such as when the arm comes into contact with an obstacle, so that we can "sense" interaction forces through the motors. This ability to allow external loads to drive the joints is critical for achieving accurate force feedback and compliant behavior.