Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm
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DOI: 10.3390/app10248871
Abstract: Inspired by the structure of human arms, a modular cable-driven human-like robotic arm (CHRA) is developed for safe human–robot interaction. Due to the unilateral driving properties of the cables, the CHRA is redundantly actuated and… read more here.
Keywords: enhanced stiffness; cable; model; cable tension ... See more keywords