A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers

Li, Chenning; Yang, Shangkui; Branson, David T.; Song, Zhibin; Sun, Tao; Dai, Jian S.; Kang, Rongjie

Abstract

Variable stiffness actuators (VSAs) have emerged as a key actuation technology known for their bionic performance and task adaptability. However, current VSAs often exhibit relatively large sizes, making them possible for use in robotic arms and legs but less convenient for integrations into robotic hands. This paper introduces a compact design of a tendon-driven variable stiffness actuator (TVSA) based on an adjustable cantilever mechanism, which can be embedded into a robotic finger. This implementation endows the robotic finger with the independent regulation of joint position and stiffness. A concise and computationally efficient stiffness mapping model from the TVSA to the finger joints is then established, providing a theoretical foundation for the stiffness regulation of the tendon-driven fingers. A prototype of a robotic hand equipped with the presented TVSA demonstrates safe interactions with various objects of diverse shapes, weights and stiffness.

Citation

Li, C., Yang, S., Branson, D. T., Song, Z., Sun, T., Dai, J. S., & Kang, R. (2024). A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers. Mechanism and Machine Theory, 201, Article 105730. https://doi.org/10.1016/j.mechmachtheory.2024.105730

• Journal Article Type: Article
• Acceptance Date: Jul 3, 2024
• Online Publication Date: Jul 10, 2024
• Publication Date: 2024-10
• Deposit Date: Aug 8, 2024
• Publicly Available Date: Jul 11, 2025
• Journal: Mechanism and Machine Theory
• Print ISSN: 0094-114X
• Publisher: Elsevier
• Peer Reviewed: Peer Reviewed
• Volume: 201
• Article Number: 105730
• DOI: https://doi.org/10.1016/j.mechmachtheory.2024.105730
• Keywords: Variable stiffness actuator; adjustable cantilever mechanism; stiffness mapping model; robotic finger
• Public URL: https://nottingham-repository.worktribe.com/output/38113218