Transmission of Force Sensation Achieved by Tendon-Driven Spherical Joint Mechanism

Abstract

Conventionally, the large inertia in multiple-degree-of-freedom robots is a problem when using bilateral control for the transmission of force sensation. In this paper, a motion control method for tendon-driven spherical joint mechanisms is proposed to transmit the force sensation. The mechanism is lightweight and has two degrees of freedom in one joint. In the proposed control method, an imaginary plane is defined and utilized for force projection to control force. The experimental results show that the transmission of the force sensation was achieved using the proposed control method.