Applications with physical human-robot interaction require a high level of safety even in case of software or hardware failures. This paper highlights the advantages of combining tendon actuation with transmission elasticity to maximize safety for robotic arms sharing workspaces with humans. To this end, the collision behavior of combinations of tendon or joint and elastic or stiff actuation wi...

Future humanoid robots will execute various complicated tasks based on communication with human users. These humanoid robots will be equipped with anthropomorphic robot hands much like the human hand. The robots will eventually supplant human labor in the execution of intricate and dangerous tasks in areas such as manufacturing, space exploration and the seabeds. Many multi-fingered robot hands...

For the impulsive ankle push-off (APO) observed in human walking two muscle-tendon-units (MTUs) spanning joint play an important role: Gastrocnemius (GAS) and Soleus (SOL). GAS SOL load Achilles tendon to store elastic energy during stance followed by a rapid release APO. We use neuromuscular simulation (NMS) bipedal robot investigate role of on optimize for robust gait then sequentially replac...

This paper describes the development of a tendon-driven, multi-fingered dexterous robot hand for space operations. This hand can achieve cylindrical grasps while producing a holding strength necessary for grasping several crew aids, tools (CATs) and interfaces. The design is based on grasping requirements for 242 CATs and interfaces found in the extravehicular activity (EVA) Tools and Equipment...

Over the past several years, there has been a rapidly expanding interest in the the study and construction o,f a new class of robot manipulators which utilize high degree of freedom, or continuous, backbone structures. I n this paper, we consider and illustrate some basic properties of a class of “hyper-redundant” robots, known as “continuum” robots. W e base our analysis around remotely-driven...

Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape, soft materials also store and release elastic energy, a feature that can be exploited for effective robot movement. However, design and control of these movin...

Unlike the inverse kinematics problem of n-tendon continuum robots, forward lacks a closed-form analytical solution. In this paper, novel algorithm for single-segment flexible robots is developed that can determine resulting beam configuration any given set actuator displacements. The determines key parameters all possible n- to 1-tendon combinations and examines them against evaluation criteri...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...