The twisted string actuation system: Modeling and control

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2010, Pages 1215-1220

  Würtz, Thomas ^a   May, Chris ^a   Holz, Benedikt ^a   Natale, C ^b   Palli, G ^c   Melchiorri, C ^c  

^a SAARLAND UNIVERSITY   (Germany)

^b SECOND UNIVERSITY OF NAPLES   (Italy)

^c UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

Actuation; Robotic hands; Tendons; Transmission system

Indexed keywords

ACTUATION; ACTUATION FORCE; ACTUATION SYSTEMS; ARTIFICIAL HAND; BASIC CONCEPTS; COMPUTATIONAL BURDEN; CONTROL ALGORITHMS; DRIVING SYSTEMS; LABORATORY TEST; LIGHT-WEIGHT ROBOTICS; MASS-SPRING-DAMPER SYSTEM; MODELING AND CONTROL; NOVEL ACTUATION; OUTPUT-FEEDBACK CONTROLLERS; PARAMETER VARIATION; ROBOTIC HANDS; SECOND ORDERS; SLIDING MANIFOLDS; TRANSMISSION SYSTEM;

ALGORITHMS; ASYMPTOTIC ANALYSIS; CONSTITUTIVE EQUATIONS; DC MOTORS; DC POWER TRANSMISSION; END EFFECTORS; MECHATRONICS; ROBOTIC ARMS; ROBOTICS;

INTELLIGENT MECHATRONICS;

EID: 79951593902     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2010.5695720     Document Type: Conference Paper

References (12)

1. S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, and K. Biggers, "Design of the Utah/Mit dexterous hand," in Proc. IEEE Int. Conf. on Robotics and Automation, 1986.
2. Shadow Robot Company, "Design of a dextrous hand for advanced clawar applications," in CLAWAR, 2003, pp. 691-698.
3. F. Rothling, R. Haschke, J. J. Steil, and H. Ritter, "Platform portable anthropomorphic grasping with the bielefeld 20-dof shadow and 9-dof tum hand," in Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007, pp. 2951-2956.
4. J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger, "DLR-Hand II: Next generation of a dextrous robot hand," in Proc. IEEE Int. Conf. on Robotics and Automation, 2001.
5. C. Lovchik and M. Diftler, "The robonaut hand: a dexterous robot hand for space," in Proc. IEEE Int. Conf. on Robotics and Automation, 1999.
6. C. Melchiorri and M. Kaneko, Springer Handbook of Robotics. Springer, 2008, ch. Robot Hands.
7. C. Melchiorri and G. Vassura, "Mechanical and control features of the UB Hand version II," in Proc. IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, IROS'92, 1992.
8. L. Biagiotti, F. Lotti, C. Melchiorri, G. Palli, P. Tiezzi, and G. Vassura, "Development of UB Hand 3: Early results," in Proc. IEEE Int. Conf. on Robotics and Automation, 2005.
9. S. Y. Jung, S. K. Kang, M. Lee, and I. Moon, "Design of robotic hand with tendon-driven three fingers," in Proc. of IEEE Int. Conf. Cont. Aut. and Sys., 2007, pp. 83-86.
10. G. Berselli, G. Borghesan, M. Brandi, C. Melchiorri, C. Natale, G. Palli, S. Pirozzi, and G. Vassura, "Integrated mechatronic design for a new generation of robotic hands," in Proc. of the IFAC Symposium on Robot Control, Gifu, Japan, 2009.
11. "DEXMART Project website," http://www.dexmart.eu/.
12. A. Cavallo and C. Natale, "High-order sliding control of mechani-cal systems: theory and experiments," Control Engineering Practice, vol. 12, pp. 1139-1149, 2004. (Pubitemid 38763282)