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An investigation of the transmission system of a tendon driven robot hand

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4 Author(s)
Nahvi, A. ; Biorobotics Lab., McGill Univ., Montreal, Que., Canada ; Hollerbach, J.M. ; Yangming Xu ; Hunter, I.W.

The transmission system of the Utah/MIT Dextrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actuators (80 Hz), tendons act like springs and the first mode of the tendons is above that frequency range

Published in:

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on  (Volume:1 )

Date of Conference:

12-16 Sep 1994