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This paper presents an active dual-mode twisting actuation mechanism, which is an automatic transmission system based on twisted string actuation. This mechanism produces two different transmission ratios by adjusting the radius of a twisted string. Automatic mode switching between the two transmission ratios is implemented using an active control mechanism. Then, the effect of the proposed mechanism...
In this paper, we present the control of and experimentation on an active dual-mode twisted string actuation mechanism for automatic transmission. This mechanism has a two-stage transmission ratio and is implemented by changing the twisted radius of the string in each mode (force mode or speed mode). Control algorithms for implementing different transmission ratios are proposed and experimentally...
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