Bilateral Control with Tension Control Considering Joint Torque for Robotic Hand with Tendon-driven Mechanism

Abstract

This paper proposes a bilateral control with a tension control considering joint torque for a tendon-driven robotic hand. This robotic hand has two joints and two degrees-of-freedom, which is driven by three tendons. Tendon arrangement in the robotic hand is designed in terms of joint torque output. In tendon-driven mechanism, tension control is needed for power transmission. This research achieves a tension control considering the joint torque that fluctuates depending on the hand posture. In addition, the bilateral control with tension control is implemented. The effectiveness of the proposed method was further demonstrated through experimental results.