Cart (Loading....) | Create Account
Close category search window
 

Control, Performance and Applications of Antagonist Actuated Manipulator Joints

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Tong, Jason ; Department of Mechanical & Aerospace Engineering, Syracuse University, Syracuse, New York 13210 ; Somerset, James

Antagonist actuated joints are defined as being driven by a pair of opposing actuators, as in the arrangement of muscles in human joints. A simple method of controlling the motion and varying the compliance of the joint is presented, along with examples of the performance of a prototype joint. The use of antagonist actuators to reduce the size, inertia and backlash of manipulator arm joints is discussed. An antagonist actuated joint is one that is driven by a pair of opposing uni-directional actuators rather than by a single bi-directional actuator. This arrangement is necessary in human limbs since muscles can apply force in contraction only.

Published in:

American Control Conference, 1985

Date of Conference:

19-21 June 1985

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.