Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation

Wensi Zhang,Barnabas Gavin Cangan,Thomas Buchner, Alexander M. Kubler, Ramon Asmus,Robert K. Katzschmann

2024 IEEE 7TH INTERNATIONAL CONFERENCE ON SOFT ROBOTICS, ROBOSOFT（2024）

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关键词

Tendon-driven Actuation,Degrees Of Freedom,Actuator,Verification Method,Single Motor,Target Profile,Tendon Length,Root Mean Square Error,Error Rate,Optimization Problem,3D Printing,Contact Point,Constant Speed,Orifice,Angle Range,Metacarpophalangeal Joints,Clockwise Direction,Simulation Error,Simulated Profiles,Proximal Interphalangeal,Theoretical Error,Split Point,Multiple Motor

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