DocumentCode
651058
Title
Modeling of tendon driven soft wearable robot for the finger
Author
Kang, Brent ByungHoon ; Hyunki In ; Kyu-Jin Cho
Author_Institution
Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
fYear
2013
fDate
Oct. 30 2013-Nov. 2 2013
Firstpage
459
Lastpage
460
Abstract
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.
Keywords
nonlinear control systems; robots; MCP joint flexion; robot nonlinearity factors; tendon driven soft wearable robot modeling; tendon driven wearable robot control; tendon driven wearable robotic hand; Nonlinear finger control; finger joint control; soft wearable robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location
Jeju
Print_ISBN
978-1-4799-1195-0
Type
conf
DOI
10.1109/URAI.2013.6677311
Filename
6677311
Link To Document