An investigation of the transmission system of a tendon driven robot hand

Abstract

The transmission sys tem of the Utah /MIT Deztrous Hand (UMDH) is investigated theoretically and experimentally. I t i s shown that the f r ic t ion of the routing pulleys is not negligible and should be considered i n the force control of the UMDH. I n the frequency range of the pneumatic actuators (8OHz), tendons act like springs and the first mode of the tendons is above that frequency range.

DOI: 10.1109/IROS.1994.407390

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Cite this paper

@inproceedings{Nahvi1994AnIO, title={An investigation of the transmission system of a tendon driven robot hand}, author={Ali Nahvi and John M. Hollerbach and Yangming Xu and Ian W. Hunter}, booktitle={IROS}, year={1994} }