手指肌腱驱动软性可穿戴机器人的建模

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677311

B. B. Kang, Hyunki In, Kyu-Jin Cho

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引用次数: 6

摘要

由于肌腱驱动可穿戴机器人本身的非线性因素，不能采用刚体框架模型对其进行控制。为了控制肌腱驱动可穿戴式机械手，开发肌腱驱动可穿戴式机械手模型是必然的。作为第一步，本文建立了MCP关节屈曲模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling of tendon driven soft wearable robot for the finger

Control of tendon driven wearable robot cannot be performed with rigid frame model because of nonlinearity factors of the robot. To control the tendon driven wearable robotic hand, development of model for tendon driven wearable robot hand is inevitable. As a first step, modeling of MCP joint flexion has been developed and presented in this paper.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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