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The ABENICS Active Ball Joint Mechanism Moves an Output Link with Three Degrees of Freedom - Hackster.io
Non-spherical ball-socket joint design for Delta-type robots - ScienceDirect
Figure 4 from EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation | Semantic Scholar
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Passively-driven redundant spherical joint with large range of rotation using linear springs - YouTube
Major components of the variable stiffness ball joint. | Download Scientific Diagram
EthoHand: A Dexterous Robotic Hand with Ball-Joint Thumb Enables Complex In-hand Object Manipulation
Ball joint - Wikipedia
I designed this ball end joint for my portal-robot, but it can also be usefull for other robotics projects. it is 3D-printed, and utilizes air gun balls to reduce friction. A springloaded