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 language | English |
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| Pages | 553-558 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2015 Jun 16 |
| Event | 2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain Duration: 2015 Mar 17 → 2015 Mar 19 |
Other
| Other | 2015 IEEE International Conference on Industrial Technology, ICIT 2015 |
|---|---|
| Country/Territory | Spain |
| City | Seville |
| Period | 15/3/17 → 15/3/19 |
Keywords
- 4ch-bilateral control
- Haptic robot hand
- Tendon drive
- Tension control
- Twist Drive
ASJC Scopus subject areas
- Computer Science Applications
- Electrical and Electronic Engineering