Results 151 to 160 of about 20,798 (201)
SmartBot, EarlyView.Tendon‐sheath mechanisms are widely used in various robotic systems for remote position transmission, including aerospace vehicles, flexible rescue robots, dexterous robotic hands, exoskeleton robots, soft wearable devices, industrial robots, and flexible surgical robots.
Jiaqi Li, Qian Gao
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SmartBot, EarlyView.This article reviews the application of fiber Bragg grating (FBG) technology for precise force sensing in minimally invasive surgery. It outlines the fundamental working principles and algorithms used to interpret sensor data. The text surveys clinical applications across various medical fields, such as ophthalmology and vascular intervention (Table of
Shiyuan Dong +9 more
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Unlocking n‐alk‐1‐ynes conformers: Quantum “trigger finger” versus “stiff joint” conformations
Smart Molecules, EarlyView.Quantum chemical analysis reveals the unique function of n‐alk‐1‐yne terminus as a Quantum “Trigger Finger,” exhibiting two near‐isoenergetic conformers (Cs ${\mathrm{C}}_{s}$and C1 ${\mathrm{C}}_{1}$) locked by a symmetric high barrier. This contrasts with the lower asymmetric barrier of the conventional asymmetric “Stiff Joint” alkyl chain.
Ioan Bâldea
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Analysis, Classification, and Design of Tendon-Driven Mechanisms
IEEE Transactions on Robotics, 2014This paper analyzes tendon-driven mechanisms (TDMs) with active and passive tendons and proposes a method for designing TDMs. First, we group TDMs into six classes according to their controllability and the number of driving degrees of freedom. In this classification system, the conventional underactuated mechanisms are grouped into three classes, two ...
Ryuta Ozawa +2 more
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Bioinspired Soft Robotic Fingers with Sequential Motion Based on Tendon-Driven Mechanisms
Soft Robotics, 2022The conformability is yet a challenge for most soft robotic grippers due to the continuous motion and deformation of these machines under external force. Herein, inspired by the movement mechanism of human fingers, we propose a novel tendon-driven soft robotic finger with a preprogrammed bending configuration and a human finger like sequential motion ...
Yin, Zhang +3 more
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Adaptive neural network control of tendon-driven mechanisms with elastic tendons
Automatica, 2003The authors propose an adaptive control and an adaptive neural network control (composed of two RBF neural components and one adaptive component) for tendon-driven robotic mechanisms with elastic tendons. These controllers can be applied to serial or parallel tendon-driven manipulators having linear or nonlinear elastic tendons.
Kobayashi, Hiroaki, Ozawa, Ryuta
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Tendon-Driven Jamming Mechanism for Configurable Variable Stiffness
Soft Robotics, 2021Stiffness transition of a soft continuum body is an essential feature for dexterous interaction with an unstructured environment. Softness ensures safe interaction, whereas rigidness generates high force for movement or manipulation. Vacuum-based granular jamming is a widely used technique for on-line stiffness transition because of its high ...
Jaehyeok, Choi +4 more
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Mechanical stiffness control of tendon-driven joints
Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003We present a method for mechanical stiffness control of the tendon-driven joints of a manipulator. First we propose a formula for controlling the joint stiffness and the joint angles independently. Next, we propose an elastic mechanism (nonlinear elastic module, NLEM) of which nonlinear elastic characteristics are easily designed.
K. Koganezawa, M. Yamazaki
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Mechanics Modeling of Tendon-Driven Continuum Manipulators
IEEE Transactions on Robotics, 2008Continuum robotic manipulators articulate due to their inherent compliance. Tendon actuation leads to compression of the manipulator, extension of the actuators, and is limited by the practical constraint that tendons cannot support compression. In light of these observations, we present a new linear model for transforming desired beam configuration to
David B. Camarillo +4 more
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A general mechanical model for tendon-driven continuum manipulators
2012 IEEE International Conference on Robotics and Automation, 2012Recently, continuum manipulators have drawn a lot of interest and effort from the robotic community, nevertheless control and modeling of such manipulators are still a challenging task especially because they require a continuum approach. In this paper, a general mechanical model with a geometrically exact approach for tendon-driven continuum ...
RENDA, Federico, LASCHI, Cecilia
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