Design of a gripper system for tendon-driven telemanipulators considering semi-automatic spring mechanism and eye-in-hand camera system
Sign Up to like & getrecommendations! Published in 2017 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-017-0244-8
Abstract: Tendon-driven mechanisms are adopted in remote handling manipulators to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. This study considered several approaches to the design of a gripper… read more here.
Keywords: system; tendon driven; gripper system; gripper ... See more keywords
Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3077186
Abstract: This article provides a tutorial on the dynamic modeling of continuum robots. Continuum robots (CRs) have gained popularity in recent years due to their flexible backbone structure. Modeling and control of CRs motivate accurate and… read more here.
Keywords: dynamic modeling; continuum robots; rod based; tendon driven ... See more keywords
FIORA : A Flexible Tendon-Driven Continuum Manipulator for Laparoscopic Surgery
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3134276
Abstract: Aiming at solving the problems of low flexibility, poor internal extension, and chopstick effect in most laparoscopic surgical robots, this letter presents a flexible tendon-driven continuum surgical manipulator with eight degrees of freedom, called FIORA.… read more here.
Keywords: continuum manipulator; driven continuum; flexible tendon; fiora flexible ... See more keywords
Dynamic Modeling of Tendon-Driven Co-Manipulative Continuum Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3137535
Abstract: This study presents a general framework for the dynamic analysis of tendon-driven co-manipulative continuum robots with flexible objects. Hence, the actuations of the arms have been provided by bending. Furthermore, the object is modeled as… read more here.
Keywords: manipulative continuum; dynamic modeling; driven manipulative; continuum robots ... See more keywords
A Modular Lockable Mechanism for Tendon-Driven Robots: Design, Modeling and Characterization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142907
Abstract: Surgical robots with variable stiffness can provide more stable configurations during minimally-invasive surgery.This letter presents a new design of modular lockable mechanism which can be used to change the stiffness of tendon-driven surgical robots. Locking… read more here.
Keywords: tendon driven; modular lockable; driven robots; mechanism tendon ... See more keywords
Optimization of Stress Distribution in Tendon-Driven Continuum Robots Using Fish-Tail-Inspired Method
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3147456
Abstract: Tendon-driven continuum robots are widely used in different engineering disciplines due to their simple structure and high flexibility. The typical structure of a tendon-driven continuum robot usually contains a series of identical compliant joints in… read more here.
Keywords: compliant joints; driven continuum; continuum robots; tendon driven ... See more keywords
RTSRAs: A Series-Parallel-Reconfigurable Tendon-Driven Supernumerary Robotic Arms
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3183251
Abstract: Supernumerary robotic limbs (SRL) are new types of wearable robots used as the third limb to work with humans. The device is designed to provide the wearer with better auxiliary ability. This paper presents the… read more here.
Keywords: series parallel; reconfigurable tendon; parallel reconfigurable; tendon driven ... See more keywords
Modelling of Tendon-Driven Continuum Robot Based on Constraint Analysis and Pseudo-Rigid Body Model
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3234821
Abstract: Quasi-static models of tendon-driven continuum robots (TDCR) require consideration of both the kinematic and static conditions simultaneously. While the Pseudo-Rigid Body (PRB-3R) model has been demonstrated to be efficient, existing works ignore the mechanical effect… read more here.
Keywords: driven continuum; pseudo rigid; rigid body; model ... See more keywords
Locomotion Optimization of a Tendon-Driven Robotic Fish With Variable Passive Tail Fin
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3189093
Abstract: This article explores a set of locomotion optimization methods for a novel tendon-driven robotic fish. With the typical features of the dual tendon driving active tail and variable stiffness passive caudal fin, a fully functioning… read more here.
Keywords: locomotion; driven robotic; robotic fish; locomotion optimization ... See more keywords
Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3226157
Abstract: Tendon-driven parallel continuum robots (PCR) consist of multiple individual continuous kinematic chains, that are actuated in bending utilizing tendons routed along their backbones. This work derives and proposes a Cosserat rod based kinetostatic modeling framework… read more here.
Keywords: parallel continuum; kinetostatic modeling; continuum robots; tendon driven ... See more keywords
Optimal design and grasp ability evaluation of four-finger tendon-driven hand
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881417748444
Abstract: Since human hands have complex anatomical structure and are hard to be duplicated, lots of researches have been done to simplify it by gesture analysis, functional workspace evaluation and many other approaches. In this article,… read more here.
Keywords: four finger; tendon driven; driven hand; hand ... See more keywords