Torque control of underactuated tendon-driven robotic fingers
First Claim
1. An underactuated tendon-driven finger for use within a robotic system having a total number of degrees of freedom (DOF) equal to at least n, and having a controller adapted for controlling an actuation of the tendon-driven finger via at least one actuator, the tendon-driven finger comprising:
- n or fewer tendons and n DOF;
a plurality of tension sensors in communication with the n or fewer tendons; and
at least two joints;
wherein the controller uses tension values of only the n or fewer tendons from the plurality of tension sensors to control the at least one actuator, and to convert commanded joint torques into appropriate calculated tendon tensions, thereby eliminating an unconstrained slack space that would otherwise exist in controlling only a position of the tendons.
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Accused Products
Abstract
A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.
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Citations
3 Claims
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1. An underactuated tendon-driven finger for use within a robotic system having a total number of degrees of freedom (DOF) equal to at least n, and having a controller adapted for controlling an actuation of the tendon-driven finger via at least one actuator, the tendon-driven finger comprising:
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n or fewer tendons and n DOF; a plurality of tension sensors in communication with the n or fewer tendons; and at least two joints; wherein the controller uses tension values of only the n or fewer tendons from the plurality of tension sensors to control the at least one actuator, and to convert commanded joint torques into appropriate calculated tendon tensions, thereby eliminating an unconstrained slack space that would otherwise exist in controlling only a position of the tendons. - View Dependent Claims (2, 3)
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Specification