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DC Field | Value | Language |
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dc.citation.endPage | 2926 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 2915 | - |
dc.citation.title | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.volume | 25 | - |
dc.contributor.author | Jung, Yeongtae | - |
dc.contributor.author | Bae, Joonbum | - |
dc.date.accessioned | 2023-12-21T16:40:46Z | - |
dc.date.available | 2023-12-21T16:40:46Z | - |
dc.date.created | 2020-05-10 | - |
dc.date.issued | 2020-12 | - |
dc.description.abstract | Tendon-sheath actuation mechanisms can provide compact and lightweight tendon routing. However, torque control of a tendon-sheath actuation system is challenging because of variable friction with respect to the sheath configuration. Model-based feedforward friction compensation algorithms have been developed to accurately deliver desired torque, but it is difficult to apply such algorithms to multi-degrees of freedom (DOFs) systems because of changes in sheath configurations that in turn alter the base tension and friction parameters. In this article, we develop a series elastic tendon-sheath actuation mechanism that allows feedforward torque control in multi-DOFs systems. The mechanism features series elastic elements on the motor side to reduce base tension changes and enable accurate input torque control. Friction is compensated by a feedforward controller with a modeled friction parameter to transmit desired torque to the distal joint under varying sheath configurations. The performance of the proposed series elastic tendon-sheath actuation mechanism is demonstrated in experiments using a control interface for a tele-operation system. | - |
dc.identifier.bibliographicCitation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.25, no.6, pp.2915 - 2926 | - |
dc.identifier.doi | 10.1109/TMECH.2020.2997945 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.scopusid | 2-s2.0-85098001507 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/32066 | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9102410 | - |
dc.identifier.wosid | 000599503600030 | - |
dc.language | 영어 | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Torque Control of a Series Elastic Tendon-sheath Actuation Mechanism | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems; Engineering, Manufacturing; Engineering, Electrical & Electronic; Engineering, | - |
dc.relation.journalResearchArea | Automation & Control Systems; Engineering | - |
dc.type.docType | Article | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | Tendons | - |
dc.subject.keywordAuthor | Friction | - |
dc.subject.keywordAuthor | Force | - |
dc.subject.keywordAuthor | Torque | - |
dc.subject.keywordAuthor | Analytical models | - |
dc.subject.keywordAuthor | Mathematical model | - |
dc.subject.keywordAuthor | Torque control | - |
dc.subject.keywordAuthor | Force control | - |
dc.subject.keywordAuthor | friction compensation | - |
dc.subject.keywordAuthor | tendon-sheath actuation mechanism | - |
dc.subject.keywordPlus | EXOSKELETON | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | ROBOT | - |
dc.subject.keywordPlus | FRICTION | - |
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