TY - GEN
T1 - Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms
AU - Matsutani, Yuki
AU - Tahara, Kenji
AU - Kino, Hitoshi
AU - Ochi, Hiroaki
N1 - Funding Information:
*This work was supported by the Nagamori Foundation.
Funding Information:
This work was supported by the Nagamori Foundation.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2017/12/22
Y1 - 2017/12/22
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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U2 - 10.1109/HUMANOIDS.2017.8246877
DO - 10.1109/HUMANOIDS.2017.8246877
M3 - Conference contribution
AN - SCOPUS:85044450049
VL - Part F134101
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 213
EP - 218
BT - 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PB - IEEE Computer Society
T2 - 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
Y2 - 15 November 2017 through 17 November 2017
ER -