IEEE - Institute of Electrical and Electronics Engineers, Inc. - CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists

Author(s): Alexander Toedtheide ; Sami Haddadin
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 3,537 - 3,544
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2853802
Regular:

In this letter, we propose a new compliant robotics wrist design concept. The system is tendon driven, pneumatically actuated and impedance controlled. We show simulative and experimental results... View More

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