6 accepted papers
Service robots need robot hands that are versatile to grasp various objects while being lightweight to ensure robot mobility, minimize power consumption, and prioritize safety. In this paper, we propose a robot hand capable of adjusting the length of its fingers using a tendon-driven telescopic mech
Biological signals classification is essential for human machine interaction. Although previous research has achieved high classification performance, compensating for domain shift due to the intra and inter individual variations remains a challenge. In this paper, we propose a novel dynamic label s…
This paper proposes a coupled tendon-driven waist joint for humanoid robots. The waist joint was designed as a 3 degrees of freedom (DOF) structure to simulate the motion of a human waist. The power transmission was designed by adopting a 3-motor 3-DOF (3M3D) coupled tendon-driven mechanism, so that…
In this study, a new humanoid shoulder is developed using a coupled tendon-driven mechanism that consists of three motors to drive three degrees of freedom (DoFs). In the coupled tendon-driven mechanism, multiple motors simultaneously drive multiple joints with each joint driven by at least two moto
A 2 motor 2 degrees-of-freedom (2M2D) coupled tendon driven joint module is proposed as a basic component for robot arms. Torque reallocation via tendon coupling can enhance the output torque of one single joint. According to the motor position, the joint module is classified into four types: the ex…
This paper presents a lightweight (<;250 g) and low-cost (<;350 USD) biomimetic prosthetic hand with two actuators embedded in the palm. One of them is employed for flexion/extension of the five digits, and the other one is used for the adduction/abduction of thumb. Thus, the hand can achieve major…