On Tendon-Driven Robotic Mechanisms with Redundant Tendons

DOI Web Site 23 Citations
  • Hiroaki Kobayashi
    School of Science and Technology Meiji University Kawasaki City, 214-8571 Japan
  • Kazuhito Hyodo
    Faculty of Engineering Kanagawa Institute of Technology Atsugi City, 243-0292 Japan
  • Daisuke Ogane
    School of Science and Technology Meiji University Kawasaki City. 214-8571 Japan

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<jats:p> In this paper, several basic issues are discussed regarding tendon redundancy and joint stiffness adjustability for a robotic mechanism driven with redundant tendons. After briefly discussing tendon- controllability, the authors define local maximum sets of tendons that are redundant simultaneously (local maximum redundant tendon sets) and obtain an irreducible description of a redundant tendon in terms of the others. The authors obtain conditions under which the joint stiffness is adjustable using the tendons' nonlinear elasticity. </jats:p>

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