Highly Durable Bidirectional Joint With Twisted String Actuators and Variable Radius Pulley

Lee, Dongun; Kim, Deok Ha; Huu, Cuong; In, Junyong; Shin, Dong-Chun

doi:10.1109/tmech.2019.2960825

Cited by 20 publications

(4 citation statements)

References 21 publications

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“…Parallel-wire robots, tendon-driven robots, and robots using twisted string actuators (TSA) are some applications that exploit the features of synthetic fiber ropes. In parallel-wire robots [4][5] [6], these ropes are used as cables in winches that constitute the robot; in tendon-driven robots [7][8] [9], torque is generated at the joints by pulling these rope; and in robot with TSA [10] [11][12] [13], a pair of these ropes is twisted by a motor to generate a contraction force to operate the robot. Thus, synthetic fiber ropes can be widely used for robots by exploiting their characteristics.…”

Section: Introductionmentioning

confidence: 99%

Repetitive Twisting Durability of Synthetic Fiber Ropes

Sadachika

Kanekiyo

Nabae

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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Section: Introductionmentioning

confidence: 99%

Repetitive Twisting Durability of Synthetic Fiber Ropes

Sadachika

Kanekiyo

Nabae

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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“…TSAs have been widely employed in multiple robotic applications, such as tensegrity robots, robotic fingers, robotic hands, and exoskeletons [17], [21]- [23], not only as driving mechanisms but also to achieve variable stiffness [24]. However, they have only been used in one other soft robot so far [25].…”

Section: Introductionmentioning

confidence: 99%

Anthropomorphic Twisted String-Actuated Soft Robotic Gripper with Tendon-Based Stiffening

Bombara¹,

Konda²,

Swanbeck³

et al. 2022

Preprint

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Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them. Although existing soft robotic grippers exhibit acceptable performance, their design and fabrication are still an open problem. This paper explores twisted string actuators (TSAs) to drive a soft robotic gripper. TSAs have been widely used in numerous robotic applications, but their inclusion in soft robots has been limited. The proposed design of the gripper was inspired by the human hand, with four fingers and a thumb. Tunable stiffness was implemented in the fingers by using antagonistic TSAs. The fingers' bending angles, actuation speed, blocked force output, and stiffness tuning were experimentally characterized. The gripper was able to achieve a score of 6 on the Kapandji test, and was also to achieve 31 of the 33 grasps of the Feix GRASP taxonomy. A comparison study revealed that the proposed gripper exhibited equivalent or superior performance compared to other similar grippers.

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“…Due to increasing demands for physical interaction between human and robots, the importance of human-robot interaction (HRI) technology has been gaining attention [2][3][4][5]. In general, HRI can be classified into two categories: remote interaction and proximate interaction [6].…”

Section: Introductionmentioning

confidence: 99%

A Power Assistant Algorithm Based on Human–Robot Interaction Analysis for Improving System Efficiency and Riding Experience of E-Bikes

et al. 2021

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As robots are becoming more accessible in our daily lives, the interest in physical human–robot interaction (HRI) is rapidly increasing. An electric bicycle (E-bike) is one of the best examples of HRI, because a rider simultaneously actuates the rear wheel of the E-bike in close proximity. Most commercially available E-bikes employ a control methodology known as a power assistant system (PAS). However, this type of system cannot offer fully efficient power assistance for E-bikes since it does not account for the biomechanics of riders. In order to address this issue, we propose a control algorithm to increase the efficiency and enhance the riding experience of E-bikes by implementing the control parameters acquired from analyses of human leg kinematics and muscular dynamics. To validate the proposed algorithm, we have evaluated and compared the performance of E-bikes in three different conditions: (1) without power assistance, (2) assistance with a PAS algorithm, and (3) assistance with the proposed algorithm. Our algorithm required 5.09% less human energy consumption than the PAS algorithm and 11.01% less energy consumption than a bicycle operated without power assistance. Our algorithm also increased velocity stability by 11.89% and acceleration stability by 27.28%, and decreased jerk by 12.36% in comparison to the PAS algorithm.

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Highly Durable Bidirectional Joint With Twisted String Actuators and Variable Radius Pulley

Cited by 20 publications

References 21 publications

Repetitive Twisting Durability of Synthetic Fiber Ropes

Repetitive Twisting Durability of Synthetic Fiber Ropes

Anthropomorphic Twisted String-Actuated Soft Robotic Gripper with Tendon-Based Stiffening

A Power Assistant Algorithm Based on Human–Robot Interaction Analysis for Improving System Efficiency and Riding Experience of E-Bikes

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