Accurate Dynamic Modeling of Twisted String Actuators Accounting for String Compliance and Friction

Nedelchev, Simeon; Gaponov, Igor; Ryu, Jee-Hwan

doi:10.1109/lra.2020.2970651

Cited by 17 publications

(2 citation statements)

References 11 publications

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“…Lastly, the developed feedback controller compensates for any model inaccuracies thanks to direct measurements of the handle's angle and torque, yielding positioning accuracy which was deemed satisfactory for our application. For more information and details on the derivation of the components of the τ d torque and particularly the ones responsible for energy losses within the strings due to their intrinsic compliance, please refer to our previous work (Nedelchev et al, 2020). Equations of motion Eq.…”

Section: Dynamic Model Of the Interfacementioning

confidence: 99%

Design, characterisation and validation of a haptic interface based on twisted string actuation

Skvortsova¹,

Nedelchev

Brown

et al. 2022

Front. Robot. AI

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This paper presents the design and experimental characterisation of a wrist haptic interface based on a twisted string actuator. The interface is designed for controlled actuation of wrist flexion/extension and is capable of rendering torque feedback through a rotary handle driven by the twisted string actuator and spring-loaded cable mechanisms. The interface was characterised to obtain its static and dynamic haptic feedback rendering capabilities. Compliance in the spring and actuation mechanism makes the interface suitable for smooth rendering of haptic feedback of large magnitudes due to the high motion transmission ratio of the twisted strings. Haptic virtual wall rendering capabilities are demonstrated.

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Section: Dynamic Model Of the Interfacementioning

confidence: 99%

Design, characterisation and validation of a haptic interface based on twisted string actuation

Skvortsova¹,

Nedelchev

Brown

et al. 2022

Front. Robot. AI

Self Cite

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show abstract

“…There is also the compliance of the strings to consider, depending on the thickness and material chosen, which becomes a significant factor under high forces. Both of these issues can be addressed with accurate modelling [8] and/or a robust control strategy, as demonstrated in [4]. What is more of an issue is the unidirectional force of the TSA, which can only impart force in tension.…”

Section: Introductionmentioning

confidence: 99%

A Novel Triad Twisted String Actuator for Controlling a Two Degrees of Freedom Joint: Design and Experimental Validation

Crosby

Carrasco

Heath

et al. 2022

2022 International Conference on Robotics and Automation (ICRA)

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Actuated universal joints, or equivalent joint systems, are found in a number of robotic applications, in particular mobile snake robots, continuum robots and robotic tails. These joints have two degrees of freedom on two axes, each perpendicular to a third axis and to themselves. Such joints use a variety of actuation methods, including direct drive motors, linear screw drives, cable based systems, and hydraulics/pneumatics. In this paper the authors design and validate a mechanism that uses the Twisted String Actuator (TSA) in an antagonistic triad to actuate the universal joint, using orientation sensors and load cells to create a robust cascading closed loop control system. This results in a light, compact, highperformance actuation system that avoids the extra mass and hardware complexity that alternative actuation methods present, with the additional challenge of nonlinearity.

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A Twisted String Actuator-Driven Soft Robotic Manipulator

et al. 2021

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Accurate Dynamic Modeling of Twisted String Actuators Accounting for String Compliance and Friction

Cited by 17 publications

References 11 publications

Design, characterisation and validation of a haptic interface based on twisted string actuation

Design, characterisation and validation of a haptic interface based on twisted string actuation

A Novel Triad Twisted String Actuator for Controlling a Two Degrees of Freedom Joint: Design and Experimental Validation

A Twisted String Actuator-Driven Soft Robotic Manipulator

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