In this paper is presented a study on the antagonist tendon of an underactuated finger that is actuated by means of a traction tendon. The study is carried out developing a multibody model in which are applied the force that the tendons exert. The study and the model are part of a research activity to develop a mechanical hand with prosthetic purposes. The different types of antagonists tendons, that achieve different dynamic behaviours of the finger, are shown and described in the paper.
Multibody model of under-actuated tendon driven finger to study the antagonist tendon / Savino, Sergio. - 47:(2017), pp. 175-182. (Intervento presentato al convegno 1st International Conference of IFToMM ITALY, IFIT 2016 tenutosi a Italy nel 2016) [10.1007/978-3-319-48375-7_19].
Multibody model of under-actuated tendon driven finger to study the antagonist tendon
Savino, Sergio
2017
Abstract
In this paper is presented a study on the antagonist tendon of an underactuated finger that is actuated by means of a traction tendon. The study is carried out developing a multibody model in which are applied the force that the tendons exert. The study and the model are part of a research activity to develop a mechanical hand with prosthetic purposes. The different types of antagonists tendons, that achieve different dynamic behaviours of the finger, are shown and described in the paper.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
