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- Bae, Joonbum
- Bio-robotics and Control Lab.
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| DC Field | Value | Language |
|---|---|---|
| dc.citation.conferencePlace | GE | - |
| dc.citation.conferencePlace | Munich, Germany | - |
| dc.citation.endPage | 1356 | - |
| dc.citation.startPage | 1352 | - |
| dc.citation.title | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 | - |
| dc.contributor.author | Jung, Yeongtae | - |
| dc.contributor.author | Bae, Joonbum | - |
| dc.date.accessioned | 2023-12-19T18:38:43Z | - |
| dc.date.available | 2023-12-19T18:38:43Z | - |
| dc.date.created | 2017-09-27 | - |
| dc.date.issued | 2017-07-03 | - |
| dc.description.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. | - |
| dc.identifier.bibliographicCitation | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, pp.1352 - 1356 | - |
| dc.identifier.doi | 10.1109/AIM.2017.8014206 | - |
| dc.identifier.issn | 2159-6255 | - |
| dc.identifier.scopusid | 2-s2.0-85028763494 | - |
| dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/37285 | - |
| dc.identifier.url | http://ieeexplore.ieee.org/document/8014206/ | - |
| dc.language | 영어 | - |
| dc.publisher | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 | - |
| dc.title | Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration | - |
| dc.type | Conference Paper | - |
| dc.date.conferenceDate | 2017-07-03 | - |
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