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

• المؤلفون الرئيسيون: Tjahjowidodo, Tegoeh, Lau, Michael Wai Shing, Phee, Soo Jay, Do, T. N.
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2013
• الموضوعات: DRNTU::Engineering::Mechanical engineering::Robots
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/98688; http://hdl.handle.net/10220/17434

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...