a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...

Dexterous robot hand development is a very challenging and interesting research topic. A dexterous robot hand may serve as a prosthesis hand for disabled patients or to serve as a gripping device for robotic arms. In most of previous studies, the dexterous robot hands are developed based on the directed gear train controls and tendon wired controls. The directed gear train control based design ...

A b s t r a c t m As many biomechanists indicate~ tendon plays important role for running or jumping motion. It stores the kinetic energy as a potential energy during stance and also absorbs the impulse at touch down. Inspired by such biomechanical studies~ we propose a new simple mechanical model for hindlimb of a dog to realize a robot that imitates dog running~ and the hardware design of one...

Routing tendons in straight paths along an elastic backbone is a widely used method of actuation for continuum robots. Tendon routing paths which are general curves in space enable a much larger family of robots to be designed, with configuration spaces and workspaces that are unattainable with straight tendon routing. Harnessing general tendon routing to extend the capabilities of continuum ro...

This letter introduces the BRL/Pisa/IIT (BPI) SoftHand: a single actuator-driven, low-cost, 3D-printed, tendon-driven, underactuated robot hand that can be used to perform range of grasping tasks. Based on adaptive synergies Pisa/IIT SoftHand, we design new joint system and tendon routing facilitate inclusion both soft synergies, which helps us balance durability, affordability performance hand...

Human motion can provide a rich source of examples for use in robot grasping and manipulation. Adapting human examples to a robot manipulator is a difficult problem, however, in part due to differences between human and robot hands. Even hands that are anthropomorphic in external design may differ dramatically from the human hand in ability to grasp and manipulate objects due to internal design...