Stiffness characteristics of new modular type antagonistic tendon-driven joint systems

Hyunhwan Jeong; Youngsu Cho; Bongki Kang; Joono Cheong; Youngsu Son

IROS 2015poster2 citations

Stiffness characteristics of new modular type antagonistic tendon-driven joint systems

Hyunhwan Jeong, Youngsu Cho, Bongki Kang, Joono Cheong, Youngsu Son

Abstract

This paper presents a new antagonistic tendon-driven joint (TDJ) which has an advantage of enhanced stiffness characteristics. Detailed mathematical analyses on the stiffness of typical TDJs are worked out to compare the stiffness among them. Prototypes of the proposed TDJ design are introduced in the form of packaged modular structure that merges two TDJs generating a combined roll-pitch motion or similar ones. Numerical examples are given to confirm the superior stiffness of the proposed TDJ design.

BibTeX

@inproceedings{iros2015_stiffnesscharact,
  title = {Stiffness characteristics of new modular type antagonistic tendon-driven joint systems},
  author = {Hyunhwan Jeong and Youngsu Cho and Bongki Kang and Joono Cheong and Youngsu Son},
  booktitle = {IROS 2015},
  year = {2015}
}