TY - GEN
T1 - A design of back-drivable tendon-driven mechanism on robotic finger
AU - Egawa, Kosuke
AU - Katsura, Seiichiro
N1 - Funding Information:
This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 201603011, 2020.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/7
Y1 - 2021/3/7
N2 - To adapt the robot to the human environment, it is necessary to implement the robot's dexterity and force control. To achieve each of these functions, there are studies on tendon-driven hands that generate extension torque with springs and studies on wideband sensing using a disturbance observer (DOB), but few studies integrate them. In this paper, in order to their integration, we proposed a robotic finger whose tendon routing is improved from FLLEX that is considered to be the most effective for wideband sensing using DOB among the existing tendon-driven hands that generate extension torque with a spring. In order to confirm the effectiveness of the proposed robot finger, we conducted an experiment to evaluate the force transmission performance for the finger that reproduced the tendon routing of FLLEX and the proposed robot finger, and compared the results obtained in each experiment.
AB - To adapt the robot to the human environment, it is necessary to implement the robot's dexterity and force control. To achieve each of these functions, there are studies on tendon-driven hands that generate extension torque with springs and studies on wideband sensing using a disturbance observer (DOB), but few studies integrate them. In this paper, in order to their integration, we proposed a robotic finger whose tendon routing is improved from FLLEX that is considered to be the most effective for wideband sensing using DOB among the existing tendon-driven hands that generate extension torque with a spring. In order to confirm the effectiveness of the proposed robot finger, we conducted an experiment to evaluate the force transmission performance for the finger that reproduced the tendon routing of FLLEX and the proposed robot finger, and compared the results obtained in each experiment.
KW - Disturbance observer
KW - Force control
KW - Robotic hand
KW - Tendon-driven mechanism
KW - Wideband force sensing
UR - http://www.scopus.com/inward/record.url?scp=85104115006&partnerID=8YFLogxK
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U2 - 10.1109/ICM46511.2021.9385602
DO - 10.1109/ICM46511.2021.9385602
M3 - Conference contribution
AN - SCOPUS:85104115006
T3 - 2021 IEEE International Conference on Mechatronics, ICM 2021
BT - 2021 IEEE International Conference on Mechatronics, ICM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Mechatronics, ICM 2021
Y2 - 7 March 2021 through 9 March 2021
ER -