Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

Yuki Matsutani,Hiroaki Ochi,Hitoshi Kino,Kenji Tahara

doi:10.1109/humanoids.2017.8246877

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

Yuki Matsutani, Hiroaki Ochi + Show 2 more

https://doi.org/10.1109/humanoids.2017.8246877

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Publication Date: Nov 1, 2017

Citations: 15

Affiliation: National Institute of Technology, Kumamoto College, Sanyo-Onoda City University, Fukuoka Institute of Technology, Kyushu University

#Variable Stiffness Mechanisms #Tendon-driven Robot + Show 8 more

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Abstract

This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.

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