Control of robotic joint by using antagonistic pair of Twist Drive Actuators

In this paper we present a control method for robotic finger that uses twisted strings actuator called Twist Drive. A five fingered robotic hand prototype was developed by using Twist Drive actuators to control 14 active degrees-of-freedom. This paper focuses on control of a thumb's CM joint, w...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Sonoda, T., Ishii, K., Nassiraei, A. A. F., Godler, I.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Drives Joints Robots Sensors Shafts Torque
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