Hinge for Use in a Tension Stiffened and Tendon Actuated Manipulator

A hinge for connecting first and second components together, comprising:

• a central member having opposite first and second ends and a centerline extending between the first and second ends;
• a first frame capable of being attached to or formed as part of the first component, the first frame having opposite first and second ends and a centerline extending between the first and second ends of the first frame;
• a second frame capable of being attached to or formed as part of the second component, the second frame having opposite first and second ends and a centerline extending between the first and second ends of the second frame;
• a first torque reaction tube having opposite first and second ends and centerline extending between the first and second ends of the first torque reaction tube, the first torque tube being rotatably attached to the first frame at a first axis and rotatably attached to the central member;
• and
• a second torque reaction tube having opposite first and second ends and centerline extending between the first and second ends of the second torque reaction tube, the second torque tube being rotatably attached to the second frame at a second axis and rotatably attached to the central member.