While there is great interest in designing and controlling biologically-inspired, tendon-driven robotic hands, we have lacked computational methodologies to evaluate and refine alternative topologies based on objective grasp metrics. We have overcome this obstacle by employing computational geometry to find the full set of feasible grasp wrenches and the corresponding grasp quality metrics for ...

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Conditions for the workspace of tendon-driven Stew-art platform manipulators are given. For a general 2-dof 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.

Biological motor control is capable of learning complex movements containing contact transitions and unknown force requirements while adapting the impedance of the system. In this work, we seek to achieve robotic mimicry of this compliance, employing stiffness only when it is necessary for task completion. We use path integral reinforcement learning which has been successfully applied on torque...

This paper presents a tendon-driven dexterous hand capable of object manipulation. This dexterous hand is anatomically sound and mimics the musculoskeletal structure of human fingers including the passive mechanism, bone geometry, tendon network. One of the key features of this prosthetic hand is the ability to perform fine finger manipulation motions such as holding a pen with two fingers and ...

To facilitate human assembly tasks, Robonaut 2 is equipped with a dexterous, compact hand featuring fingers driven remotely by tendons. This work outlines the force-control strategy for the fingers, which are actuated by an “n +1” tendon arrangement. Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, in other words, in the tendon sp...

Longitudinal split and subluxation of the peroneus brevis tendon have been reported in surgery literature, but few publications report on longitudinal tears of the peroneus longus tendon. The most likely proposed mechanism is a mechanical one. This report discusses the ultrasonographic appearance of peroneus longus and peroneus brevis tendon splits and the mechanism of injury.