@inproceedings{2f68609453ec46a9a37b2e85b6d24cd6,
title = "Development of a Semi-Rigid Tendon Actuated Limb for Robotics Applications",
abstract = "This paper presents the design and modeling of a lightweight tendon actuated robotic limb. The mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material and connected through torsional springs. This allows the limb to keep a straight position without the application of forces and facilitates the control of the limb while performing flexion and extension movements. A static model is presented to predict the tension of the tendons in order to reach a defined orientation. Simulations were conducted in a V-REP Python environment to demonstrate the controllability of the limb while performing simple movements and trajectories. ",
keywords = "Biorobotics, Continuous Manipulator., Soft Robotics, Tendon Actuation",
author = "Bekarys Nurtay and Tomiris Suranshy and Michele Folgheraiter",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 5th International Conference on Robotics and Automation Engineering, ICRAE 2020 ; Conference date: 20-11-2020 Through 22-11-2020",
year = "2020",
month = nov,
day = "20",
doi = "10.1109/ICRAE50850.2020.9310905",
language = "English",
series = "2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "31--35",
booktitle = "2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020",
address = "United States",
}