A design of back-drivable tendon-driven mechanism on robotic finger

Kosuke Egawa, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

To adapt the robot to the human environment, it is necessary to implement the robot's dexterity and force control. To achieve each of these functions, there are studies on tendon-driven hands that generate extension torque with springs and studies on wideband sensing using a disturbance observer (DOB), but few studies integrate them. In this paper, in order to their integration, we proposed a robotic finger whose tendon routing is improved from FLLEX that is considered to be the most effective for wideband sensing using DOB among the existing tendon-driven hands that generate extension torque with a spring. In order to confirm the effectiveness of the proposed robot finger, we conducted an experiment to evaluate the force transmission performance for the finger that reproduced the tendon routing of FLLEX and the proposed robot finger, and compared the results obtained in each experiment.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Mechatronics, ICM 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728144429
DOIs
Publication statusPublished - 2021 Mar 7
Event2021 IEEE International Conference on Mechatronics, ICM 2021 - Kashiwa, Japan
Duration: 2021 Mar 72021 Mar 9

Publication series

Name2021 IEEE International Conference on Mechatronics, ICM 2021

Conference

Conference2021 IEEE International Conference on Mechatronics, ICM 2021
Country/TerritoryJapan
CityKashiwa
Period21/3/721/3/9

Keywords

  • Disturbance observer
  • Force control
  • Robotic hand
  • Tendon-driven mechanism
  • Wideband force sensing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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