TY - GEN
T1 - Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure
AU - Ochi, Hiroaki
AU - Kino, Hitoshi
AU - Tahara, Kenji
AU - Matsutani, Yuki
PY - 2015/1/1
Y1 - 2015/1/1
N2 - The human body possesses a musculoskeletal structure in which muscles exist around the bones and joints. The musculoskeletal tendon-driven robot utilizes this structure. This robotic system uses sets of mechanical tendons, such as wire-cables and actuators instead of the vital muscles. The redundant actuation is necessary for the system when it does not actively use any external force nor a tensioner because the mechanical tendon can transmit only a tensile force. This structural characteristic enables feedforward motion-generation that does not need any sensory feedback. However, the convergent posture strongly depends on the tendon-arrangement. Targeting the tendon-driven manipulator, which has two links and six tendons, this paper expands the mathematical conditions for the convergence into the geometric conditions of tendon-arrangement. Based on the geometric conditions, a design method of the tendon-arrangement is discussed.
AB - The human body possesses a musculoskeletal structure in which muscles exist around the bones and joints. The musculoskeletal tendon-driven robot utilizes this structure. This robotic system uses sets of mechanical tendons, such as wire-cables and actuators instead of the vital muscles. The redundant actuation is necessary for the system when it does not actively use any external force nor a tensioner because the mechanical tendon can transmit only a tensile force. This structural characteristic enables feedforward motion-generation that does not need any sensory feedback. However, the convergent posture strongly depends on the tendon-arrangement. Targeting the tendon-driven manipulator, which has two links and six tendons, this paper expands the mathematical conditions for the convergence into the geometric conditions of tendon-arrangement. Based on the geometric conditions, a design method of the tendon-arrangement is discussed.
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U2 - 10.1109/IECON.2015.7392248
DO - 10.1109/IECON.2015.7392248
M3 - Conference contribution
AN - SCOPUS:84973155507
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 1109
EP - 1114
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -