Antagonism for a Highly Anthropomorphic Hand–Arm System
- 1 January 2008
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 22 (1) , 39-55
- https://doi.org/10.1163/156855308x291836
Abstract
A novel approach to antagonism in robotic systems is introduced and investigated as the basis for an unequalled, highly anthropomorphic hand–arm system currently being developed. This hand–arm system, consisting of a 19-d.o.f. hand and a 7-d.o.f. flexible arm, will be based on antagonistic principles in order to study and mimic the human musculoskeletal system, as well as to advance safety in robotics.Keywords
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