Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration

Yeongtae Jung; Joonbum Bae

doi:10.1109/AIM.2017.8014206

Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration

Yeongtae Jung
, Joonbum Bae

Division of Mechanical System Engineering

Ulsan National Institute of Science and Technology

Research output: Contribution to conference › Conference paper › peer-review

6 Scopus citations

Abstract

Tendon-sheath actuation mechanism has been researched due to its extremely simple and light cable routing structure. However, the slide-based force transmission mechanism causes friction, which disturbs precise force control. To overcome such disadvantage, friction compensation algorithms in tendon-sheath actuation systems have been studied. However, the torque control of double tendon-sheath mechanism has not been achieved yet without a torque feedback. In this research, a double-Tendon sheath actuation mechanism with series elastic elements and tight sheath routing method is introduced to achieve feedforward torque control. The performance of proposed mechanism is verified with experiments.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1352-1356
Number of pages	5
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014206
State	Published - 2017.08.21
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017.07.3 → 2017.07.7

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country/Territory	Germany
City	Munich
Period	17.07.3 → 17.07.7

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10.1109/AIM.2017.8014206

Cite this

Jung, Y., & Bae, J. (2017). Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 1352-1356). Article 8014206 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014206

@inproceedings{8c811e8681414457aecfd67043e856ec,

title = "Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration",

abstract = "Tendon-sheath actuation mechanism has been researched due to its extremely simple and light cable routing structure. However, the slide-based force transmission mechanism causes friction, which disturbs precise force control. To overcome such disadvantage, friction compensation algorithms in tendon-sheath actuation systems have been studied. However, the torque control of double tendon-sheath mechanism has not been achieved yet without a torque feedback. In this research, a double-Tendon sheath actuation mechanism with series elastic elements and tight sheath routing method is introduced to achieve feedforward torque control. The performance of proposed mechanism is verified with experiments.",

author = "Yeongtae Jung and Joonbum Bae",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

year = "2017",

month = aug,

day = "21",

doi = "10.1109/AIM.2017.8014206",

language = "English",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Jung, Y & Bae, J 2017, Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014206, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 1352-1356, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 17.07.3. https://doi.org/10.1109/AIM.2017.8014206

Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration. / Jung, Yeongtae; Bae, Joonbum.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1352-1356 8014206 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Contribution to conference › Conference paper › peer-review

TY - GEN

T1 - Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration

AU - Jung, Yeongtae

AU - Bae, Joonbum

PY - 2017/8/21

Y1 - 2017/8/21

N2 - Tendon-sheath actuation mechanism has been researched due to its extremely simple and light cable routing structure. However, the slide-based force transmission mechanism causes friction, which disturbs precise force control. To overcome such disadvantage, friction compensation algorithms in tendon-sheath actuation systems have been studied. However, the torque control of double tendon-sheath mechanism has not been achieved yet without a torque feedback. In this research, a double-Tendon sheath actuation mechanism with series elastic elements and tight sheath routing method is introduced to achieve feedforward torque control. The performance of proposed mechanism is verified with experiments.

AB - Tendon-sheath actuation mechanism has been researched due to its extremely simple and light cable routing structure. However, the slide-based force transmission mechanism causes friction, which disturbs precise force control. To overcome such disadvantage, friction compensation algorithms in tendon-sheath actuation systems have been studied. However, the torque control of double tendon-sheath mechanism has not been achieved yet without a torque feedback. In this research, a double-Tendon sheath actuation mechanism with series elastic elements and tight sheath routing method is introduced to achieve feedforward torque control. The performance of proposed mechanism is verified with experiments.

UR - https://www.scopus.com/pages/publications/85028763494

U2 - 10.1109/AIM.2017.8014206

DO - 10.1109/AIM.2017.8014206

M3 - Conference paper

AN - SCOPUS:85028763494

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1352

EP - 1356

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

Y2 - 3 July 2017 through 7 July 2017

ER -

Jung Y, Bae J. Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1352-1356. 8014206. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2017.8014206

Torque control of a double tendon-sheath actuation mechanism in varying sheath configuration

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