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• W1965566100 abstract "Safety and versatility are necessary for manipulators in human environment, which will be acquired by tendon mechanisms using nonlinear springs. The nonlinear spring used in this paper is stiffness adjustable tendon (SAT), which is light, cheap, and simple structure. Conventional tension controllers based on a spring characteristics equation, however, do not realize precise tension control due to hysteresis characteristics of SAT. In this paper, we propose a tension controller for tendon mechanisms using nonlinear springs with hysteresis characteristics, which is realized by using a disturbance observer and a reaction force observer. Experimental results show the usefulness of the proposed method." @default.
• W1965566100 created "2016-06-24" @default.
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• W1965566100 date "2010-03-01" @default.
• W1965566100 modified "2023-09-23" @default.
• W1965566100 title "Tension control for tendon mechanisms by compensation of nonlinear spring characteristic equation error" @default.
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• W1965566100 doi "https://doi.org/10.1109/amc.2010.5464047" @default.
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