Journal ArticleDOI
Twisted String Actuation Systems: A Study of the Mathematical Model and a Comparison of Twisted Strings
TLDR
In this paper, an improved mathematical model of a twisted string transmission system is presented, which has been validated experimentally and provided a better match with the practical data in comparison with the conventional model.Abstract:
This paper presents an improved mathematical model of a twisted string transmission system. The proposed mathematical model has been validated experimentally and provided a better match with the practical data in comparison with the conventional model. Translational transmission systems based on twisted strings coupled with electric motors can compose light-weight, compact, and mechanically simple actuators that can be used in various robotic applications. An extensive experimental study on the performance of different types of strings during twisting is presented. The drawbacks and advantages of each type of strings, along with some of their properties, are discussed.read more
Citations
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Journal ArticleDOI
Robotic Artificial Muscles: Current Progress and Future Perspectives
Jun Zhang,Jun Sheng,Ciaran T. O'Neill,Conor J. Walsh,Robert J. Wood,Jee-Hwan Ryu,Jaydev P. Desai,Michael C. Yip +7 more
TL;DR: Important characteristics and considerations in the selection, design, and implementation of various prominent and unique robotic artificial muscles for biomimetic robots are discussed, and perspectives on next-generation muscle-powered robots are provided.
Journal ArticleDOI
Auxilio: A portable cable-driven exosuit for upper extremity assistance
TL;DR: In this paper, a portable upper limb exosuit was designed to assist dynamic rehabilitation tasks where patient can involve trunk motions and overground movements (e.g., during pick-and-place tasks).
Journal ArticleDOI
Designing Anthropomorphic Robot Hand With Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors
TL;DR: Using the active dual-mode twisted string actuation (TSA) mechanism and tiny tension sensors on the tendon strings, an anthropomorphic robot hand is newly designed in a compact manner and experimentally produces maximally the fingertip force and minimally the closing time.
Journal ArticleDOI
The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
TL;DR: The UC Softhand as mentioned in this paper is a low cost, Bionic and adaptive hand that takes advantage of compliant joints and uses a novel compact twisted string actuation mechanism, which allows a considerable weight and cost reduction compared to its predecessor.
Proceedings ArticleDOI
CapstanCrunch: A Haptic VR Controller with User-supplied Force Feedback
TL;DR: CapstanCrunch is a force resisting, palm-grounded haptic controller that renders haptic feedback for touching and grasping both rigid and compliant objects in a VR environment that is low cost, low electrical power, robust, safe, fast and quiet, while providing high force control to user interaction.
References
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Journal ArticleDOI
Modeling and Control of the Twisted String Actuation System
TL;DR: In this paper, a tendon-based actuation concept is presented for the implementation of powerful, simple, compact, and light-weight tendonbased driving systems, using as actuators small-size dc motors characterized by high speed and low torque.
Proceedings ArticleDOI
The twisted string actuation system: Modeling and control
TL;DR: In this paper, the authors describe a tendon-based actuation system for very compact and light-weight robotic devices, like artificial hands, using small-size DC motors characterized by high speed and low torque.
Proceedings ArticleDOI
Multi-fingered robotic hand employing strings transmission named “Twist Drive” — Video contribution
Takashi Sonoda,Ivan Godler +1 more
TL;DR: A goal of this research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand that is powered by a newly proposed strings transmission named “Twist Drive”.
Proceedings ArticleDOI
Multi-fingered robotic hand employing strings transmission named “Twist Drive”
Takashi Sonoda,Ivan Godler +1 more
TL;DR: A goal of this research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand that is powered by a newly proposed strings transmission named “Twist Drive”.
Proceedings ArticleDOI
Position and force control of a robotic finger with twisted strings actuation
Takashi Sonoda,Ivan Godler +1 more
TL;DR: In this paper, the authors presented a kinematic analysis of a robotic finger that is actuated by twisted strings mechanism, which they named Twist Drive, and the obtained Jacobian is used in position control and in force control on the finger tip.