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Tendon-sheath actuation mechanism has been researched due to its extremely simple and light cable routing structure. However, the slide-based force transmission mechanism causes friction, which disturbs precise force control. To overcome such disadvantage, friction compensation algorithms in tendon-sheath actuation systems have been studied. However, the torque control of double tendon-sheath mechanism...
Tele-operation systems have been developed to perform tasks in extreme environments that cannot be accessed easily by humans. However, non-intuitive control interfaces, low immersive feeling, and wireless communication issues have prevented the wide application of such tele-operation systems. In this study, an intuitive and interactive control interface using inertial measurement units (IMUs), a wearable...
In this paper, an asymmetric cable-driven mechanism is proposed for accurate force control of exoskeleton systems with a compact structure. Inspired by the fact that the required forces in human motions are not symmetric in many cases, a spring-actuator type cable-drive mechanism is adopted, which enables a compact cable routing structure. The joint is connected with the exoskeleton frame through...
Tele-operation systems have been developed to perform tasks in extreme environments which cannot be easily accessed by human. However, non-intuitive control interfaces using only a keyboard or a joystick and wireless communication issues have prohibited the wide application of the tele-operation systems. In this work, an intuitive operation interface using inertial measurement units (IMUs) and a haptic...
A tendon-sheath system has been researched for human-robot interaction systems because of its simple and light tendon routing mechanism. Since the tendons contact with the inner surface of sheaths in a tendon-sheath system, many undesirable phenomena appear due to the friction between them. Force transmission models and feedforward friction compensation methods have been developed for precise force...
In this paper, an upper-limb exoskeleton with a tilted and vertically movable shoulder joint is proposed. By analyzing the biomechanics of the shoulder, the upper limb for the shoulder and the elbow was approximated to five degrees of freedom (DOFs) by including the vertical translation of the glenohumeral joint of the shoulder, in addition to the 3 DOFs of the shoulder and 1 DOF of the elbow, which...
In this paper, the performance of the 5-DOF upper-limb exoskeleton with a tilted and vertically translating shoulder joint, which was proposed in our previous work, is verified by simulations and experiments. In this design, one vertical prismatic joint was added for the vertical translation of the shoulder, and the shoulder joint was tilted to avoid the singularity problem. Based on the kinematic...
In this paper, an upper-limb exoskeleton with a tilted and vertically movable shoulder joint is proposed. By analyzing the biomechanics of the shoulder, the motion of the upper limb is approximated by including one degree of freedom (DOF), namely vertical translation of the glenohumeral joint, in addition to the three DOFs that are conventionally employed to analyze the motion of the shoulder. Also,...
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