An investigation of the transmission system of a tendon driven robot hand
- 17 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 202-208
- https://doi.org/10.1109/iros.1994.407390
Abstract
The transmission system of the Utah/MIT Deztrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actu- ators (8OHz), tendons act like springs and the first mode of the tendons is above that frequency range.Keywords
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