Control of tendon-driven(Twisted-string Actuator) robotic joint with adaptive variable-radius pulley

Park, Jihyuk; Park, Ji-il; Seo, Hyung-Tae; Liu, Yanheng; Kim, Kyung-Soo; Kim, Soohyun

doi:10.23919/iccas50221.2020.9268279

Cited by 3 publications

(1 citation statement)

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“…When one fixture is rotated (typically by an electric motor), the looped string twists into a helix, decreasing the distance between them. TSA actuators have been used for a hand orthosis [5], elbow joint [6] and foldable robot arm [7] among other functions.…”

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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Section: Introductionmentioning

confidence: 99%