• 로봇학회논문지
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• 제9권3호
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• pp.178-184
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• 2014

Tendon driven robot mechanisms have many advantages such as allowing miniaturization and light-weight designs and/or enhancing flexibility in the design of structures. When designing or analyzing tendon driven mechanisms, it is important to determine how the tendons should be connected and whether the designed mechanism is easily controllable. Graph representation is useful to view and analyze such tendon driven mechanisms that are complicatedly interconnected between mechanical elements. In this paper, we propose a method of generalized graph representation that provides us with an intuitive analysis tool not only for tendon driven manipulators, but also various other kinds of mechanical systems which are combined with tendons. This method leads us to easily obtain structure matrix - which is the one of the most important steps in analyzing tendon driven mechanisms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.290-295
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• 1992

Tendon driven method to drive one joint using two actuators is developed and implemented. While the method has advantages over conventional transmissions, it also has several drawbacks like tendon slack, elongation and endurability. In this paper, a compensation method of the intrinsic non-linearities of tendon is proposed to improve the performance of antagonistic tendon driven method. In this method, tendon tension measurement is prerequisite which is measured with strain gauge type tension sensor. The developed method is implemented on one link test bed with colocated and non-colocated position sensor.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.327-328
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.871-872
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• 2008

• 대한의용생체공학회:의공학회지
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• 제30권3호
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• pp.205-212
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• 2009

This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.

• Computers and Concrete
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• 제15권1호
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• pp.55-71
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• 2015

This paper presents a novel harmony search (HS)-based data-driven single input rule modules (SIRMs)-connected fuzzy inference system (FIS) for the prediction of stress in externally prestressed tendon. The proposed method attempts to extract causal relationship of a system from an input-output pairs of data even without knowing the complete physical knowledge of the system. The monotonicity property is then exploited as an additional qualitative information to obtain a meaningful SIRMs-connected FIS model. This method is then validated using results from test data of the literature. Several parameters, such as initial tendon depth to beam ratio; deviators spacing to the initial tendon depth ratio; and distance of a concentrated load from the nearest support to the effective beam span are considered. A computer simulation for estimating the stress increase in externally prestressed tendon, ${\Delta}f_{ps}$, is then reported. The contributions of this paper is two folds; (i) it contributes towards a new monotonicity-preserving data-driven FIS model in fuzzy modeling and (ii) it provides a novel solution for estimating the ${\Delta}f_{ps}$ even without a complete physical knowledge of unbonded tendons.

• 로봇학회논문지
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• 제15권2호
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• pp.190-196
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• 2020

Mechanical systems using tendon-driven actuators have been widely used for bionic robot arms because not only the tendon based actuating system enables the design of robot arm to be very efficient, but also the system is very similar to the mechanism of the human body's operation. The tendon-driven actuator, however, has a drawback caused by the friction force of the sheath. Controlling the system without considering the friction force between the sheath and the tendon could result in a failure to achieve the desired dynamic behaviors. In this study, a mathematical model was introduced to determine the friction force that is changed according to the geometrical pathway of the tendon-sheath, and the model parameters for the friction model were estimated by analyzing the data obtained from dedicated tests designed for evaluating the friction forces. Based on the results, it is possible to appropriately predict the friction force by using the information on the pathway of the tendon.

• 대한기계학회논문집A
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• 제36권11호
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• pp.1405-1411
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• 2012

위험지역에서의 작업을 위하여 전세계적으로 원격조작기가 널리 활용되고 있다. 특히 원격 시스템의 경우, 운영되는 환경의 특징상 안정적인 성능이 담보되어야만 하며, 조작기 몸체의 경량화 및 운용환경 외부에서의 유지보수 편리성을 위하여 구동부를 시스템의 기저부에 집중시킬 수 있는 장력구동방식 메커니즘이 주로 활용되고 있다. 본 연구에서는 장력구동 방식 원격조작기에 적용하기 위한 그리퍼 탄성 구동부의 설계를 위해 시도된 접근법을 소개하고자 한다. 제시된 그리퍼 시스템은 기본적으로 스프링 메커니즘에 기반을 둔 4 절 링크형 구조를 가지고 있으며 마스터 조작자에 의해 동작되는 슬레이브 조작기의 말단부에 결합되는 구조를 가진다. 본 논문에서는 이러한 조작기의 요구사항에 맞는 그리퍼의 파지력 및 복원력을 재현하기 위하여 그리퍼 상에서의 적정 스프링 결합위치 및 요구강성과 그에 따른 운동학적 영향계수 등을 분석 및 고찰하였다. 최종적으로는 이러한 분석내용들을 바탕으로, 실제 그리퍼 시스템에 적용함으로써 타당성을 검증하였다.

• 로봇학회논문지
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• 제9권4호
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• pp.258-263
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• 2014

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1285-1288
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• 1997

The basic technology of virtual reality can be described as the cognition of the condition change in virtual world by stimulating the visual, auditory, kinesthetic and tactile sensation. Among these, the kinesthetic and tactile sensation is one of the most important things to recognize the interaction. In this paper, it is addressed the haptic device which help the human feel the sense of the operator, and is designed in modular type to expand for five fingers later. the haptic device is driven by tendon and ultrasonic motors located in the wrist part. Each joint is actuated by coupled tendons and adopts more actrator by one than the number of the joints, called 'N+1 type'. The haptic device adopts metamorphic 4-bar linkage structure and the length of linkages, shape and the location of joint displacement sensor are optimized through the analysis.