Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms
<|reference_start|>Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms: 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 https://github.com/hjhdog1/RollingJoint.<|reference_end|>
@article{ha2024incorporating,
    title={Incorporating General Contact Surfaces in the Kinematics of
  Tendon-Driven Rolling-Contact Joint Mechanisms},
    author={Junhyoung Ha and Chaewon Kim and Chunwoo Kim},
    journal={arXiv preprint arXiv:2409.00616},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.00616},
    primaryClass={cs.RO}
}