A parallel-wire driven mechanism uses flexible wires instead of heavy rigid links. In this paper, we propose a robust point-to-point (PTP) position control method in the task-oriented coordinates for completely restrained parallel wire-driven robots, which are translational systems using the minimum number of wires under zero-gravity conditions. In the… (More)
This paper studies the human arm's sensory-motor control mechanism in reaching movements. First, we formulate both the kinematics and dynamics of a two-link planar arm *To whom all correspondence should be addressed.
In this paper, we study the sensory motor control mechanism in human reaching movements by considering the redundant muscle dynamics. We first formulate the kinematics and dynamics of a two-link arm model with six muscles, and introduce the nonlinear muscle dynamics based on the biological understanding. Secondly, we show the stability of the system by… (More)
In a musculoskeletal structure, the internal force among muscles plays an important role. Changing the internal force enables to control not only joint angles but also impedance, so that vertebrate animals can produce a motion according to a situation. Focusing on a musculoskeletal system with two links and six muscles, this paper investigate the effect of… (More)
It is well-known that a human musculo-skeletal body is redundant in terms of both kinematics and dynamics. The former means that the degree of freedom in joint space is larger than that in task space, and the latter means that a joint is driven by a number of muscles. All human skillful movements can be performed by using both redundancies. However, these… (More)
In this paper, we propose a new belt pulley mechanism based in rolling of a blade spring. This pulley can transmit wire tension by transforming itself into an ellipse. By inserting the belt pulleys into the route of wires instead of a complex mechanism, we can easily actualize a flexible tendon-driven manipulator. Internal force among the wires can… (More)
—Estimation of joint torque is an important objective in the analyses of human motion. In particular, many applications seek to discern torque during a desired human motion, which is equivalent to solving the inverse dynamics. The computed torque method is a conventional means of calculating inverse dynamics. The obtained torque, however, invariably… (More)
Generally, point-to-point control for a completely restrained (CR) parallel-wire-driven system requires a balancing internal force to prevent slackening of wires, along with a feedback term based on some displacement sensor. This paper specifically describes CR systems' internal force properties, then presents the possibility of motion convergence at a… (More)