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TENSION DISTRIBUTION IN A TENDON-DRIVEN ROBOTIC FINGER

  • US 20100280659A1
  • Filed: 03/10/2010
  • Published: 11/04/2010
  • Est. Priority Date: 04/30/2009
  • Status: Active Grant
First Claim
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8. A robotic system comprising:

  • a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons; and

    a controller having an algorithm for controlling the n+1 tendons;

    wherein the algorithm is adapted for;

    determining a maximum functional tension and a minimum functional tension of the tendon-driven finger; and

    automatically distributing tension among the n+1 tendons, such that each tendon is assigned a tension value that is less than the maximum functional tension and greater than or equal to the minimum functional tension.

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