Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure

Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトルIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1109-1114
ページ数6
ISBN(電子版)9781479917624
DOI
出版ステータス出版済み - 1 1 2015
イベント41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, 日本
継続期間: 11 9 201511 12 2015

出版物シリーズ

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

その他

その他41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country日本
CityYokohama
Period11/9/1511/12/15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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