2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, pp.1352 - 1356
Abstract
Tendon-sheath actuation mechanism has been researched due to its extremely simple and light cable routing structure. However, the slide-based force transmission mechanism causes friction, which disturbs precise force control. To overcome such disadvantage, friction compensation algorithms in tendon-sheath actuation systems have been studied. However, the torque control of double tendon-sheath mechanism has not been achieved yet without a torque feedback. In this research, a double-tendon sheath actuation mechanism with series elastic elements and tight sheath routing method is introduced to achieve feedforward torque control. The performance of proposed mechanism is verified with experiments.
Publisher
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017