Evaluation of the antagonistic tendon driven system for SNU Exo-Glove

The tendon driven systems to control joints generally use antagonistic tendon pairs. However, while one tendon controls the joint, tension of another tendon at the opposite side acts as a resistance. Unfortunately, the resistive force cannot be eliminated when a spool is used to actuate the tendon because certain level of the tension should be maintained to prevent the escape of the tendon from the spool.