IEEE - Institute of Electrical and Electronics Engineers, Inc. - Tendon and pressure actuation for a bio-inspired manipulator based on an antagonistic principle

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Farahnaz Maghooa ; Agostino Stilli ; Yohan Noh ; Kaspar Althoefer ; Helge A. Wurdemann
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 2,556 - 2,561
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139542
Regular:

This paper proposes a soft, inflatable manipulator that is antagonistically actuated by tendons and pneumatics. The combination of the two actuation mechanisms in this antagonistic robot structure... View More

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