Set-point Force Control of Tendon-driven Robotic Mechanisms with Nonlinear Tendon Elasticity.
نویسندگان
چکیده
منابع مشابه
URC97098 Force Model for Control of Tendon Driven Hands
Knowing the tendon forces generated for a given task such as grasping via a model, an artificial hand can be controlled. A two-dimensional force model for the index finger waa developed. This system is assumed to be in static equilibrium, therefore, the equations of equilibrium were applied at each joint. Constraint equations describing the tendon branch connectivity were used. Gaussian elimina...
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Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. Thi...
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Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely (“flop”) in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control) with effective performance. The force control eliminates the indeterminate slack while commanding a parameterized space of desired tor...
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In the murky waters of the Amazon River, electric eels (Electrophorus electricus) bombard their prey with quick-fire bursts of electricity. Just like a TASER, a rapid volley of electrical impulses causes repeated muscle contractions and immobilizes prey. Eels can then swallow their unlucky victims whole. Although this electrical weaponry is around two and a half times more powerful than the dis...
متن کاملTendon elasticity and muscle function.
Vertebrate animals exploit the elastic properties of their tendons in several different ways. Firstly, metabolic energy can be saved in locomotion if tendons stretch and then recoil, storing and returning elastic strain energy, as the animal loses and regains kinetic energy. Leg tendons save energy in this way when birds and mammals run, and an aponeurosis in the back is also important in gallo...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2001
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.19.372