Transmission of Force Sensations by Hand of Multi-DOF Master-Slave Robot Using Tendon-Driven Mechanism

摘要

In this study, a bilateral control system for tendon-driven robots is proposed. The rotation angle and torque of the robot joints are controlled by the proposed control system. In addition, a tendon-driven robot hand for haptic applications is developed. The proposed control system is employed by the robot hand to transmit force sensations.