An investigation of friction-based tendon sheath model appropriate for control purposes

• Main Authors: Tjahjowidodo, Tegoeh, Lau, Michael Wai Shing, Phee, Soo Jay, Do, T. N.
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: https://hdl.handle.net/10356/98688; http://hdl.handle.net/10220/17434
• Institution: Nanyang Technological University

The tendon sheath mechanism plays an important role in many robotic systems from surgical devices to robot hands. However, many unexpected properties such as nonlinear hysteresis and backlash, which appear in the tendon sheath system, cause major losses in force transmission. This report deals with...