6 accepted papers
Many applications require robotic end-effectors and mechanisms to move along periodic trajectories of given amplitude and frequency. If motion parameters are known in advance, it might be beneficial to design the mechanism in such a way that its natural frequency is close to that of the desired traj
Twisted string actuators (TSA) are efficient, compliant cable actuators with high power density that have found their way into many engineering and robotics applications in recent years. They are generally used in the scenarios involving comparatively slow positioning, since quick motions in TSAs of…
This letter presents derivation and experimental evaluation of extended dynamical model of twisted string actuator (TSA). The proposed model supports more precise estimation of required motor torque for both low-speed and high-speed (up to 2 Hz) motion by considering effects of elastic deformation o
This study proposes a technique to estimate the output state of twisted string actuators (TSAs) based on payload's acceleration measurements. We outline differential kinematics relationships of the actuator, re-formulate these into a nonlinear parameter identification problem and then apply lineariz…
Twisted string actuators are an emerging type of transmission systems that may benefit various applications of robotics and mechatronics. However, control of TSAs in applications that require high bandwidth has attracted comparatively little interest from research community, mainly due to complexity…
Robotic systems for object handling and manipulation are hugely important for modern engineering and industry, with their efficiency, agility and robustness often depending on gripper design and performance. In this work, we investigate a gripper design that, when driven by a twisted string actuator…