Paper ID: 2409.00616

Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms

Junhyoung Ha, Chaewon Kim, Chunwoo Kim

This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient iterative algorithms to solve for both tendon force actuation and tendon displacement actuation. The configuration predictions of the kinematics were experimentally validated using a prototype mechanism. Our MATLAB implementation of the proposed kinematic is available at this https URL.

Submitted: Sep 1, 2024