4 accepted papers
In this letter, we propose a 2-speed small transmission mechanism based on twisted string actuation (TSA). The proposed mechanism achieves a compact and simplified two-stage transmission ratio by adjusting the radius of the twisted string. This transmission mechanism does not require the complex mec
In this letter, we introduce an anthropomorphic robot hand by proposing a pneumatic dual-mode actuation mechanism powered by a compact pneumatic power generator based on the decomposition of hydrogen peroxide. Since the pneumatic power generator has limited gas supply ability for each fuel charge, a
In this letter, using the active dual-mode twisted string actuation (TSA) mechanism and tiny tension sensors on the tendon strings, an anthropomorphic robot hand is newly designed in a compact manner. Thanks to the active dual-mode TSA mechanism, which is a miniaturized transmission, the proposed ro
In this paper, a dual-mode twisting actuation mechanism with an active clutch is newly presented for a high performance tendon-driven robot (e.g., robot hand). This mechanism is a kind of mechanical automatic power transmission mechanism which provides fast motion and large contraction force by two…