Tension distribution in a tendon-driven robotic finger
First Claim
1. A method for distributing tension among n+1 tendons of a tendon-driven finger in a robotic system, the finger being characterized by n degrees of freedom, the method comprising:
- determining a maximum functional tension and a minimum functional tension; and
using a controller to automatically distribute tension among the n+1 tendons using a tendon map containing moment arm data mapping tendon tensions to joint torques within the tendon-driven finger, 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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Abstract
A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes 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 tendons as set forth above.
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Citations
15 Claims
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1. A method for distributing tension among n+1 tendons of a tendon-driven finger in a robotic system, the finger being characterized by n degrees of freedom, the method comprising:
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determining a maximum functional tension and a minimum functional tension; and using a controller to automatically distribute tension among the n+1 tendons using a tendon map containing moment arm data mapping tendon tensions to joint torques within the tendon-driven finger, 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. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A robotic system comprising:
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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; and wherein the controller includes a tendon map containing moment arm data mapping tendon tensions to joint torques within the tendon-driven finger, and wherein the algorithm is further adapted to automatically distribute tension using the tendon map. - View Dependent Claims (8, 9, 10, 11)
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12. A controller for a tendon-driven robotic finger having n degrees of freedom, the tendon-driven finger comprising n+1 tendons, wherein the controller includes an algorithm adapted for:
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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 tensions; wherein the controller includes a tendon map containing moment arm data mapping tendon tensions to joint torques within the tendon-driven finger; and wherein the algorithm is further adapted to automatically distribute tension using the tendon map. - View Dependent Claims (13, 14, 15)
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Specification