Title :
Design of tendon-driven mechanism with 2N configuration
Author :
Hyun Min Do ; Tae Yong Choi ; Kyoungtaik Park ; Doo Hyeong Kim
Author_Institution :
Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea
Abstract :
This paper proposed the design of tendon-driven mechanism inspired from the human joint. The proposed mechanism has 2N configuration and 2 types of prototype are designed considering the property of the back drivability.
Keywords :
flexible manipulators; motion control; 2N configuration; human joint; tendon-driven mechanism; Actuators; Adaptation models; Artificial intelligence; Indexes; Tendons; Torque; Tendon-driven mechanism; compliance; light and flexible manipulator; safety;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695663
