Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 9 of 9 for “"Tendon-driven"”.
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Advancing Tendon-Driven Robotic Systems: From Climbing Robots to String Actuators
Tendon-driven mechanisms provide a range of benefits for robotic systems, particularly by allowing actuators to be mounted at the base of a manipulator and reducing its inertia. This thesis explores two projects that exploit and advance tendon-driven mechanisms: a wheeled-grasping hybrid climbing …
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Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots
… the design, prototyping, and analysis of a tendon-driven flexible robotic joint that connects the sub-modules of an in-pipe snake-like robot. A simple, robust, well-sealed, and waterproof joint design is proposed. It enables the robot to handle complex pipeline geometry as it inspects the …
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Hybrid Soft-Rigid Robots: Investigating Series and Parallel Configurations
… modulate their stiffness on a continuum through tendon-driven actuation and the integration of "soft" and "rigid" components. Their serial assembly form a self-standing, soft-rigid robotic arm (SRRA). When coupled with an adapted soft PD+ controller, we generate trajectories that demonstrate the …
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Adaptive robust interaction control for low-cost robotic grasping
… the stable grasp and force control problem in tendon driven, angular grippers.Introducing a novel active multi input-multi output slip prevention algorithm. The algorithm developed provides a robust control solution to endow direct drive parallel jaw grippers with the capability to stop held …
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Novel Smart Actuation Systems for Single-port Laparoscopic Surgical Instruments
… the instrument. In contrast, a hybrid gear and tendon-driven mechanism, which is equipped with about three of the developed latching-type electromagnetic actuators and aided by an additional manual control needed for the completion of the actuator’s motion, was also developed and was found to …
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A concept model for a multi-fingered prosthetic hand
… with a unique design. The model incorporates a tendon driven finger mechanism instead of the traditional linkage systems. This design provides an adaptable closing finger trajectory providing better grip. The model also provide actuation to all five fingers contrary to the three fingers of …
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Design and Control of a Multi-Fingered Soft-Rigid Hybrid Robotic Hand
… over several iterations, we create an integrated tendon-driven hand that is robust, maintainable, and inexpensive. We develop a precise controller for the soft-rigid hybrid finger, and extend it for both position and task space control of the hand — additionally we implement variable stiffness …
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Modular tendon routing for continuum manipulators
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-08-01
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Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation
… Moment arm pulleys are employed to drive the tendon laterally, such that an amplification on the abduction motion occurs, while also maintaining the flexion motion. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. Also, a model for spatial motion …