Abstract: The kinematic structure of tendon-driven robotic mechanisms has been investigated with the aid of graph theory. The correspondence between the graph representation of the kinematic structure and ...

Abstract: The kinematic structure of a mechanical hand typically resembles the skeleton of a human hand and it is usually designed to emulate a subset of the functions of a human hand. This paper ...

Abstract: Given a set of desired joint torques in an n -DOF tendon-driven manipulator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse ...