Transmission of force sensations by hand of multi-DOF master-slave robot using tendon-driven mechanism

Takahiro Nozaki, Yusuke Suzuki, Kouhei Ohnishi

Research output: Contribution to journalArticle

20 Citations (Scopus)

Abstract

In this study, a bilateral control system for tendon-driven robots is proposed. The rotation angle and torque of the robot joints are controlled by the proposed control system. In addition, a tendon-driven robot hand for haptic applications is developed. The proposed control system is employed by the robot hand to transmit force sensations.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume131
Issue number3
DOIs
Publication statusPublished - 2011

Fingerprint

Tendons
End effectors
Robots
Control systems
Torque

Keywords

  • Bilateral control
  • Haptics
  • Master-slave system
  • Multi-DOF
  • Robot hand
  • Tendon-driven mechanism

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Transmission of force sensations by hand of multi-DOF master-slave robot using tendon-driven mechanism. / Nozaki, Takahiro; Suzuki, Yusuke; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 131, No. 3, 2011.

Research output: Contribution to journalArticle

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