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 25 2016
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: Nov 9 2015Nov 12 2015

Other

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

Fingerprint

Tendons
Muscle
Sensory feedback
Manipulators
Bone
Cables
Robotics
Actuators
Wire
Robots

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Ochi, H., Kino, H., Tahara, K., & Matsutani, Y. (2016). Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 1109-1114). [7392248] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392248

Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. / Ochi, Hiroaki; Kino, Hitoshi; Tahara, Kenji; Matsutani, Yuki.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1109-1114 7392248.

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

Ochi, H, Kino, H, Tahara, K & Matsutani, Y 2016, Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392248, Institute of Electrical and Electronics Engineers Inc., pp. 1109-1114, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 11/9/15. https://doi.org/10.1109/IECON.2015.7392248
Ochi H, Kino H, Tahara K, Matsutani Y. Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1109-1114. 7392248 https://doi.org/10.1109/IECON.2015.7392248
Ochi, Hiroaki ; Kino, Hitoshi ; Tahara, Kenji ; Matsutani, Yuki. / Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1109-1114
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