Design of Spring-Integrated Tendon-Driven Actuator Module with Nonlinear Property of Human Tendon

Abstract

This paper describes design of spring-integrated tendon-driven actuator module with nonlinear property of human tendon. The module is designed to achieve characteristics of variable stiffness in wider tension range like human tendon. Its mechanism is designed as the combination of an electrical motor with tendon-driven mechanical structure. Correct tendency in nonlinear elasticity was confirmed through verification.