@inproceedings{5dd1cded5dae48c680b54ab3e21d7f82,
title = "Motion control of tendon-driven rotary actuator using Twist Drive system",
abstract = "This paper proposes a method to achieve high-precision control for tendon driven system by using the Twist Drive. Twist Drive is one of transmission system which is consisted a pair of strings and rotary motor. This transmission system converts torque into a pulling force by using the pair of strings twisted on each other. However, it cannot realize pushing motion. Therefore the Twist Drive needs to be combined with an other actuation system for the realization of pushing motion. The problem is solved by tendon drive using Twist Drive system in this paper. High-precision control is achieved by modal-space disturbance observer. Modal-space disturbance observer is designed to realize the acceleration based control. It also compensates the modal interference. Furthermore work space observer is able to estimate the force in the work space without any force sensors. The proposed method was applied to rotational angle control and torque control of the tendon driven rotary actuator. The effect of the proposal is verified through experiments.",
keywords = "Twist Drive, acceleration control, motion control, tendon drive, tension control",
author = "Seiji Uozumi and Koyo Yu and Nobuto Yoshimura and Kouhei Ohnishi",
year = "2014",
month = jan,
day = "1",
doi = "10.1109/AMC.2014.6823327",
language = "English",
isbn = "9781479923243",
series = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "470--475",
booktitle = "2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014",
note = "2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 ; Conference date: 14-03-2014 Through 16-03-2014",
}