Verification of Twist Drive system and its application to haptic robot hand

Seiji Uozumi, Shuhei Shimizu, Takuya Matsunaga, Tomohiro Nakano, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

Abstract

The objective of this study is to propose the master-slave tendon-driven haptic robot hand system using Twist Drive. Twist Drive is one of transmission systems which is consisted of a pair of strings and rotary motor. This transmission system converts torque into a high pulling force by using a pair of strings twisted on each other. In this paper, Twist Drive system is verified at first. Next, Twist Drive system is implemented to the master-slave tendon-driven robot hand system to realize the downsizing of the actuator part. In order to realize haptic transmission, a method which can achieve 4ch-bilateral control and tendon-driven control, simultaneously is implemented. Here, to achieve the tendon-driven control, a method to keep the wire tension using compliance control based on hybrid angle is realized. The effect of the proposed system is verified through experiments.

Original languageEnglish
Pages553-558
Number of pages6
DOIs
Publication statusPublished - 2015 Jun 16
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 2015 Mar 172015 Mar 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period15/3/1715/3/19

Keywords

  • 4ch-bilateral control
  • Haptic robot hand
  • Tendon drive
  • Tension control
  • Twist Drive

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Verification of Twist Drive system and its application to haptic robot hand'. Together they form a unique fingerprint.

Cite this