Transmission of force sensation achieved by tendon-driven spherical joint mechanism

Keita Shimamoto, Kazuki Tanida, Takahiro Nozaki, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Conventionally, the large inertia in multiple-degree-of-freedom robots is a problem when using bilateral control for the transmission of force sensation. In this paper, a motion control method for tendon-driven spherical joint mechanisms is proposed to transmit the force sensation. The mechanism is lightweight and has two degrees of freedom in one joint. In the proposed control method, an imaginary plane is defined and utilized for force projection to control force. The experimental results show that the transmission of the force sensation was achieved using the proposed control method.

Original languageEnglish
Pages (from-to)307-313
Number of pages7
Journalieej transactions on industry applications
Issue number3
Publication statusPublished - 2013


  • Disturbance observer
  • Master-slave system
  • Spherical joint
  • Tendon-driven
  • Tension control
  • Transmission of force sensation

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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