One-to-Many Tendon Driven System for Robotic Prosthetic Hand
In robotic prosthetic hand systems, with small sizes comparable to that of a human hand and consisting of numerous joints, increase in weight due to the use of numerous motors is a major drawback. In this study, a one-to-many system that can simultaneously and independently control the tension of mu...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/11062903/ |
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| Summary: | In robotic prosthetic hand systems, with small sizes comparable to that of a human hand and consisting of numerous joints, increase in weight due to the use of numerous motors is a major drawback. In this study, a one-to-many system that can simultaneously and independently control the tension of multiple tendons with a single motor is proposed. The system comprises multiple clutch units, each containing a pulley that winds a tendon connected to a motor. Inspired by the power transmission function of planetary gears, a novel mechanism is proposed to control the power transmitted from the sun gear to the planetary gear by braking the rotation of the ring gear. The clutch unit implementing this mechanism can connect multiple clutch units on the same axis as that of the motor shaft, thus simplifying the conventional connection via gears and belts, resulting in a making the compact, lightweight, and highly scalable mechanism. The basic performance of the proposed mechanism is demonstrated through experiments in which multiple tendons are simultaneously driven under different target tensions. In addition, a tendon-driven robot that anatomically mimics a human index finger is driven, demonstrating the potential of the proposed mechanism for realizing a small robotic hand. |
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| ISSN: | 2169-3536 |