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http://dx.doi.org/10.7746/jkros.2017.12.4.419

Experimental Verification of Variable Radius Model and Stiffness Model for Twisted String Actuators (TSAs)  

Park, Jihyuk (Mechanical Engineering, Korea Advanced Institute of Science and Technology)
Kim, Kyung-Soo (Mechanical Engineering, Korea Advanced Institute of Science and Technology)
Kim, Soohyun (Mechanical Engineering, Korea Advanced Institute of Science and Technology)
Publication Information
The Journal of Korea Robotics Society / v.12, no.4, 2017 , pp. 419-424 More about this Journal
Abstract
Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.
Keywords
Twisted String Actuator; Variable Radius Model; Compliance; Antagonistic Robot Joint;
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