Cable-Driven Parallel Robots (CDPR) employ extendable cables to control the pose of an end-effector (EE). If number is smaller than degrees freedom EE, and have no special arrangement reducing EE freedoms, robot underactuated, underconstrained: as a consequence, preserves some freedoms even when all actuators are locked, which may lead undesirable free motions. This paper proposes novel methodo...

Integration of a tactile display onto the end effector of a robot allows free-hand exploration of an encountered-type environment that provides both kinesthetic and cutaneous feedback. A novel tactile display approach, called Haptic Jamming, uses a combination of particle jamming and pneumatics to control the stiffness and shape of a surface. The tactile display mounts to the cable-driven platf...

JAXA studies the new locomotion concept using tethers for the requests of unmanned support system for astronauts and the robot demonstration on the orbit will be planned in 2012, called Robot Experiment on JEM/ISS (REX-J). This paper introduces the details of REX-J project and explains the proposal locomotion method called the tether based locomotion. The tether based locomotion is defined as a...

The design and analysis of a 4-DOF multi-link cable driven parallel mechanism is presented. In contrast to many existing cable driven parallel mechanism, the proposed manipulator’s rigid links are serially articulated. This design preserves the advantages associated with cabledriven parallel mechanisms, and introduces the advantages in having a serial kinematic structure. The kinematic and kine...