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Compliance in Robotics
Cable in Bending
Normal load of 7 X 7 X 3 cable
74 other sections not shown
adjustment assembly attached axes axis ball screw band portion body harness bottom plate bracket 18 cable 14 cable compliance cable holder cable segments cable-compliant cables moved casters centerpiece CHAPTER compliance mechanism compliant joint compliant system compliant walker configuration connect connect connect corner angle damping deflection degrees of freedom desirable embodiment shown end effector end grip epoxy feedback fiber center Figure 73 Figures 80 flexibility handle hemp center hip harness hold the cable horizontal hysteresis illustrated inch intermediate plate invention IWRC joint prosthesis joystick lang-lay legs load LVDT Maltese cross metal holder misalignment motion neutral position operational amplifiers pair perspective view planes pounds prothesis robot arm robotic system rotation set of cable shown in Figure shows the cable side members six degrees sketch shows Step stranding swage target three-degree-of-freedom system top view torso harness U-shaped bracket upright variable compliance VELCRO vertical weight wire rope wrench