Tendon-Driven Compliant Prosthetic Wrist Consisting of Three Rows Based on the Concept of Tensegrity Structure
- Title
- Tendon-Driven Compliant Prosthetic Wrist Consisting of Three Rows Based on the Concept of Tensegrity Structure
- Author
- 최영진
- Issue Date
- 2021-04
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE ROBOTICS AND AUTOMATION LETTERS, v. 6, Issue. 2, Page. 3956-3963
- Abstract
- One degree-of-freedom (DoF) virtual rolling-contact joint for the prosthetic wrist is proposed in this letter. For prosthetic wrists, the wrist mechanism should basically be lightweight and have a wide range of motion (RoM). In addition, it is desirable to have compliant characteristics to protect amputees or prosthetics from unexpected external forces. The design of the proposed wrist is based on the concept of tensegrity structure which is similar to ligamentous structure combined with bones and ligaments so that it has compliant and lightweight properties. Actually, the proposed mechanism structurally mimics three rows of the human wrist. Since these three rows move simultaneously and create a single degree-of-freedom in flexion and extension, the proposed wrist covers a wide RoM without any interference between the links, which is similar to the RoM of human wrist. The inherent compliant features of the proposed wrist are validated through experiments.
- URI
- https://ieeexplore.ieee.org/document/9381589?arnumber=9381589&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/166848
- ISSN
- 2377-3766; 2377-3774
- DOI
- 10.1109/LRA.2021.3067237
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML