The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper the concept of a unified torque/impedance controller is applied to a pneumatically actuated, antagonistic robot joint. The investigated control algorithm consists of a cascaded structure in which the outer torque/impedance controller commands a desired torque to two cylinder-based force controllers. The torque-/impedance controller is equipped with a virtual tank that ensures passivity...
The need for a means of assistance in human grasping, to compensate for weakness or to augment performance, is well documented. An appealing new way of doing so is through soft, wearable robots that work in parallel with the human muscles. In this paper we present the design and modelling of a tendon-driving unit that empowers a wearable, soft glove. Being portability one of our main objectives, we...
The combination of tendon driven robotic fingers and variable impedance actuation in the DLR hand arm system brings benefits in robustness and dynamics by enabling energy storage. Since the force measurement and motors are in the forearm the tendon path should have low friction for accurate movements and precise finger control. In this paper an enhanced generation of the Awiwi hand finger design is...
In this paper, the implementation of a variable stiffness joint actuated by a couple of twisted string actuators in antagonistic configuration is presented. The twisted string actuation system is particularly suitable for very compact and light-weight robotic devices, like artificial limbs and exoskeletons, since it renders a very low apparent inertia at the load side, allowing the implementation...
Serial link mechanism driven by pneumatic artificial muscles (PMA) usually adopts tendon transmission. In many cases, the torque and position couplings between each joint are obvious, which would affect the control performance. By analyzing the position equation of tendons, this article proposes a decoupling control method for PMA-driven serial link mechanism. First of all, the coupling matrix is...
The tendon-sheath actuation system is capable of providing remote power transmission and greatly simplifying the mechanical design of robotic systems. However, there exist many undesirable nonlinear problems in tendon-sheath transmission, such as hysteresis, dead zone, backlash, and direction-dependent behavior. Unlike most of the existing literature that focus on the analysis of single-tendon-sheath...
It is hoped that robots are utilized in environments where human lives. Robots should work safely and perform complicated tasks. For safety, precise force control and lightweight mechanism are important because robots contact with human. In order to perform complicated tasks, multi-degrees-of-freedom system is needed. Tendon-driven system is able to achieve precise motion control and complicated tasks...
This paper describes a novel actuation system for very compact and light-weight robotic devices, like artificial hands. The actuation concept presented here allows the implementation of powerful tendon-based driving systems, using as actuators small-size DC motors characterized by high speed and low torque. After the presentation of the basic concept of this novel actuation system, the constitutive...
Tendon driven mechanisms have been considered in robotic design for several decades. They provide lightweight end effectors with high dynamics. Using remote actuators it is possible to free more space for mechanics or electronics. Nevertheless, lightweight mechanism are fragile and unfortunately their control software can not protect them during the very first instant of an impact. Compliant mechanisms...
Advanced robotics needs a new breed of actuators, capable to exhibit a large number of desirable features, ranging from high power/torque density, high efficiency, zero backlash and low noise, to low reflected mechanical impedance, high bandwidth and accuracy. Even if it is quite evident that to fully match these requirements new basic actuation principles have to be investigated and developed in...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.