A Novel Methodology to Compare Grasp Quality: Application to Two Dominant Tendon-driven Designs
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چکیده
The design of biologically-inspired tendon-driven systems for grasping and manipulation is a longstanding problem [1]. Some advantages of tendon-driven over torque-driven systems include light weight, small size, high speed, remote actuation, and significant design flexibility in setting moment arms and maximal tendon tensions [2]. This allows optimization of system output capabilities for a particular task.
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تاریخ انتشار 2011