Multi-source micro-friction identification for a class of cable-driven robots with passive backbone

• المؤلفون الرئيسيون: Tjahjowidodo, Tegoeh, Zhu, Ke, Dailey, Wayne, Burdet, Etienne, Campolo, Domenico
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2017
• الموضوعات: Transparent haptic interface; Cable-driven robot with passive backbone
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/83111; http://hdl.handle.net/10220/42439

This paper analyses the dynamics of cable-driven robots with a passive backbone and develops techniques for their dynamic identification, which are tested on the H-Man, a planar cabled differential transmission robot for haptic interaction. The mechanism is optimized for human–robot interaction by a...