Today, most humanoid mechanical fingers use an underactuated mechanism driven by linkages or tendons, with only a single and fixed grasping trajectory. This paper proposes new multi-mode finger based on linkage tendon fusion transmission, which is embedded adjustable-length to achieve three types of mode. The structural parameters the are optimized according kinematic static models. Furthermore...

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 pa...

Conditions for the workspace of tendon-driven Stewart platform manipulators are given. For a general 2dof planar manipulator, these criteria are calculated analytically and illustrated graphically. The methods are developed such that they may be generalized, for mechanisms with more dofs. INTRODUCTION State of the Art Theory and applications of Stewart platforms (Fig. 1) have been widely examin...

Tendon-driven mechanisms in general, and tendon-driven fingers in particular, are ubiquitous in nature, and are an important class of bio-inspired mechatronic systems. However, the mechanical complexity of tendon-driven systems has hindered our understanding of biological systems, and the optimization of the design, performance, control, and construction of mechatronic systems. Here we apply ou...

An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. The main idea of this algorithm is to compensate the output of the classical impedance control by an offset that is a proportion-integration-differentiation (PID) expression of force error. The adaptive impedance control can adjust the impedance parameters indirectly when the environment position and stiffne...

The serial mechanism is driven by pneumatic muscle actuators (PMA) and used the tendon transmission structure. Between the various joints, the torque coupling and the location coupling seriously affect the control performance. By analyzing the location equation of tendons, a matrix which can describe the coupling is obtained. Combined with the model of PMA, the dynamic equation of the coupled s...