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Twisted string actuator is a compliant, light, and mechanically simple module. The actuation principle is based on the contraction of the strings, where a low torque - high speed dc motor is capable of providing high forces. Such actuators are very light, quiet, compliant, mechanically simple and provide a possibility to move motors away from the actu- ating joint. Implementation of these actuators...
Actuators with adjustable transmission ratios are required in a variety of robotics and automation applications, spanning from human assistive devices and mobile robots to general manipulators. Most existing self-adjustable actuators are bulky and mechanically complex, which often makes their implementation challenging. In this work, we propose a novel passively-adjustable transmission mechanism based...
This paper shows the possibility of using two antagonistic twisted strings actuators as a new type of variable stiffness actuator. Variable stiffness model of the twisted string actuator is identified empirically, and the control strategy is proposed for simultaneous position and stiffness control of the actuator. A variable stiffness linear joint actuated by antagonistic twisted string actuators...
This paper presents an improved mathematical model of a twisted string transmission system. The proposed mathematical model has been validated experimentally and provided a better match with the practical data in comparison with the conventional model. Translational transmission systems based on twisted strings coupled with electric motors can compose light-weight, compact, and mechanically simple...
This paper presents an improved mathematical model of a single twisted string transmission system. The proposed mathematical model has been validated experimentally and provided a better match with the practical data in comparison to the conventional model. Translational transmission systems based on twisted strings coupled with electrical motors can compose light-weight, compact, and mechanically...
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