Kiichi Suehiro

Force-Sensorless Fault Tolerant Detection and Switching Control of Tendon-Driven Mechanisms With Redundant Tendons

Tendons in tendon-driven mechanisms are relatively weak components and sometimes break. This letter proposes a detection method of tendon breakage and a switching control system for tendon-driven mechanisms with redundant tendons. The detection method immediately detects the tendon breakage from the