Title :
Modeling of tendon driven soft wearable robot for the finger
Author :
Kang, Brent ByungHoon ; Hyunki In ; Kyu-Jin Cho
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
Control of tendon driven wearable robot cannot be performed with rigid frame model because of nonlinearity factors of the robot. To control the tendon driven wearable robotic hand, development of model for tendon driven wearable robot hand is inevitable. As a first step, modeling of MCP joint flexion has been developed and presented in this paper.
Keywords :
nonlinear control systems; robots; MCP joint flexion; robot nonlinearity factors; tendon driven soft wearable robot modeling; tendon driven wearable robot control; tendon driven wearable robotic hand; Nonlinear finger control; finger joint control; soft wearable robot control;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677311
