Results 161 to 170 of about 20,798 (201)

HIT prosthetic hand based on tendon-driven mechanism

Journal of Central South University, 2014
An underactuated finger structure actuated by tendon-driven system is presented. Kinematics and static analysis of the finger is done, and the results indicate that the prosthetic finger structure is effective and feasible. Based on the design of finger, a prosthetic hand is designed. The hand is composed of 5 independent fingers and it looks more like
Yi-wei Liu, Fei Feng, Yi-fu Gao
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Passivity based Control of Antagonistic Tendon-Driven Mechanism

2019 International Conference on Robotics and Automation (ICRA), 2019
The paper presents a passivity-based control law for an antagonistic tendon-driven mechanism. It is proven, by using the passivity theorem, that the proposed control law is able to achieve two properties such as the passivity of interconnected subsystems when the external torque is applied and the global asymptotic stability during free motion when the
Junho Park, Geun Young Hong, Youngjin Choi, Dongliang Peng, Qiang Lu   +4 more
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Design and control of underactuated tendon-driven mechanisms

2009 IEEE International Conference on Robotics and Automation, 2009
Many robotic hands or prosthetic hands have been developed in the last several decades, and many use tendon-driven mechanisms for their transmissions. Robotic hands are now built with underactuated mechanisms, which have fewer actuators than degrees of freedom, to reduce mechanical complexity or to realize a biomimetic motion such as flexion of an ...
R. Ozawa, K. Hashirii, H. Kobayashi
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Concept of variable transmission for tendon driven mechanism

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2013
The transmission determines the speed and force of the driven part with respect to the actuator. Because the transmission ratio is generally fixed, the velocity and force of the driven part are in trade off relationship. In this paper, to vary the transmission ratio of the tendon driven links, variable moment arm mechanism is proposed.
Hyunki In, Kyu-jin Cho
openaire   +1 more source

Capstan brake: Passive brake for tendon-driven mechanism

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Tendon-driven mechanisms are one of the most popular mechanisms for transmitting force and power from a distance. The energy efficiency of a tendon-driven system can be improved if it can maintain the actuation force while not moving, without mechanical work. This can be achieved by using a brake. A brake without an additional actuator is preferred for
HyunKi In, SungKu Kang, Kyu-Jin Cho
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On Tendon-Driven Robotic Mechanisms with Redundant Tendons

The International Journal of Robotics Research, 1998
In this paper, several basic issues are discussed regarding tendon redundancy and joint stiffness adjustability for a robotic mechanism driven with redundant tendons. After briefly discussing tendon- controllability, the authors define local maximum sets of tendons that are redundant simultaneously (local maximum redundant tendon sets) and obtain an ...
Hiroaki Kobayashi, Kazuhito Hyodo, Daisuke Ogane   +2 more
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Design of tendon-driven mechanism with 2N configuration

IEEE ISR 2013, 2013
This paper proposed the design of tendon-driven mechanism inspired from the human joint. The proposed mechanism has 2N configuration and 2 types of prototype are designed considering the property of the back drivability.
null Hyun Min Do, null Tae Yong Choi, null Kyoungtaik Park, null Doo Hyeong Kim   +3 more
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Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand

2010 Annual International Conference of the IEEE Engineering in Medicine and Biology, 2010
This paper presents the preliminary design of a new dexterous upper-limb prosthesis provided with a novel anthropomorphic hand, a compact wrist based on bevel gears and a modular forearm able to cover different levels of upper-limb amputations. The hand has 20 DoFs and 11 motors, with a dexterous three fingered subsystem composed by a fully actuated ...
CONTROZZI, Marco, CIPRIANI, Christian, B. Jehenne, DONATI, Marco, CARROZZA, Maria Chiara   +4 more
openaire   +3 more sources

Joint control of tendon-driven mechanisms with branching tendons

2012 IEEE International Conference on Robotics and Automation, 2012
This paper proposes a joint control method for tendon-driven mechanisms (TDMs) with branching tendons, in which multiple tendons are connected at a point, and which are often found in musculoskeletal systems. TDMs usually require the same number of tendons as actuators, which are one of the heaviest components in a robotic system.
Daisuke Sawada, Ryuta Ozawa
openaire   +1 more source

Synthesis of tendon driven mechanism by null basis selection

2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2017
This paper propose a novel method for designing N + α open-ended serial tendon-driven mechanism (STDM). The design method starts from assigning a set of desired null space bases and from these the structure matrix is optimized so that the mechanism's actuation capability is maximized. An illustrative synthesis example is provided.
Youngsu Cho, Joono Cheong
openaire   +1 more source