Modeling and Stiffness Evaluation Of Tendon-Driven Robot For Collaborative Human-Robot Interaction

This paper presents a clear and detailed mathematical analysis of the stiffness evaluation of tendon-driven serial kinematic chains which allow single-point and multi-point routing with bundling per rigid link. The kinematic analysis of tendon driven serial chain with cable routing between links, re...

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Bibliographic Details
Published in2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) pp. 233 - 238
Main Authors Ramadoss, Vishal, Sagar, Keerthi, Ikbal, Mohamed Sadiq, Zlatanov, Dimiter, Zoppi, Matteo
Format Conference Proceeding
LanguageEnglish
Published IEEE 04.03.2021
Subjects
Human-robot interaction
Kinematics
Mathematical analysis
Production
Routing
Topology
Trajectory
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Summary:This paper presents a clear and detailed mathematical analysis of the stiffness evaluation of tendon-driven serial kinematic chains which allow single-point and multi-point routing with bundling per rigid link. The kinematic analysis of tendon driven serial chain with cable routing between links, re-routing within links and bundling is presented. Targeting a musculoskeletal two-link system with different tendon arrangements as a case study, the stiffness of each system is evaluated using a stiffness ellipse. The stiffness performance is analyzed to provide a holistic overview of passive stiffness and force production capabilities that have a pivotal role in the rehabilitation paradigm and human robot-interaction.
DOI:10.1109/ISR50024.2021.9419387