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- W2311800470 abstract "This paper studies on arrangement of tendons for a tendon-driven robotic hand using genetic algorithm (GA). The finger has four joints and is driven with five tendons. The determination of suitable arrangement of tendons is a very important problem, since the property of tendon-driven mechanisms such as the joint stiffness adjustment ability, essentially depends on it. There are 2^<19> nominally possible arrangements for this finger. Hence we use GA to solve this problem. We define two kinds of fitness functions to evaluate the arrangement of tendons ; robustness for external forces and decoupling of the task space stiffness matrix at the finger tip. We obtain the effective arrangement of tendons by combining these functions. Finally, we show the validity by simulation results." @default.
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- W2311800470 date "2013-01-01" @default.
- W2311800470 modified "2023-10-14" @default.
- W2311800470 title "11301 Arrangement of Tendons forTendon-Driven Robotic Hand using GA" @default.
- W2311800470 doi "https://doi.org/10.1299/jsmekanto.2013.19.171" @default.
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