Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure

Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1109-1114
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - Jan 1 2015
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: Nov 9 2015Nov 12 2015

Publication series

NameIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period11/9/1511/12/15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure'. Together they form a unique fingerprint.

Cite this