Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

Yuki Matsutani; Kenji Tahara; Hitoshi Kino; Hiroaki Ochi

doi:10.1109/HUMANOIDS.2017.8246877

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.

Original language	English
Title of host publication	2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
Publisher	IEEE Computer Society
Pages	213-218
Number of pages	6
Volume	Part F134101
ISBN (Electronic)	9781538646786
DOIs	https://doi.org/10.1109/HUMANOIDS.2017.8246877
Publication status	Published - Dec 22 2017
Event	17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 - Birmingham, United Kingdom Duration: Nov 15 2017 → Nov 17 2017

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
Country/Territory	United Kingdom
City	Birmingham
Period	11/15/17 → 11/17/17

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Vision and Pattern Recognition
Hardware and Architecture
Human-Computer Interaction
Electrical and Electronic Engineering

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10.1109/HUMANOIDS.2017.8246877

Cite this

Matsutani, Y., Tahara, K., Kino, H., & Ochi, H. (2017). Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017 (Vol. Part F134101, pp. 213-218). (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2017.8246877

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. / Matsutani, Yuki; Tahara, Kenji; Kino, Hitoshi et al.
2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017. Vol. Part F134101 IEEE Computer Society, 2017. p. 213-218 (IEEE-RAS International Conference on Humanoid Robots).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Matsutani, Y, Tahara, K, Kino, H & Ochi, H 2017, Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. in 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017. vol. Part F134101, IEEE-RAS International Conference on Humanoid Robots, IEEE Computer Society, pp. 213-218, 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, Birmingham, United Kingdom, 11/15/17. https://doi.org/10.1109/HUMANOIDS.2017.8246877

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abstract = "This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.",

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N2 - This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.

AB - This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.

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Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

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