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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...
In this paper, the anthropomorphic robot hand is newly proposed by adopting dual-mode twisting actuation and EM joint locking mechanism. The proposed robot hand consists of five finger modules. Each finger has four links and three joints, and Joint 2 and 3 are coupled by the four-bar linkage mechanism. The dual-mode twisting actuation allows that the robot finger can move fast (up to 356.7 deg/sec)...
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