抄録
In tendon-driven mechanism, the relation between the motion of each actuator and each joint is complex because of its dependency on its tendon routing and moment arms. We propose the mechanism to solve this complexity composed of step pulleys and moving pulleys, and we call it as tendon inverse mechanism. Furthermore, we can control the joint stiffness independently by using non-lenear elastic components because of this mechanism. In this paper, we introduce the methodology to construct this mechanism and validate it through some experiments.
