Tendon-driven robot

TDRs are the subject of considerable research and commercial systems followed.

The COAST Guidewire Robot is a work from the Georgia Institute of Technology. This robot, designed for potential use in cardiovascular procedures, uses a tendon to bend the guidewire made of nested tubes from superelastic nitinol. The design contains three coaxially aligned tubes a centrally routed tendon attached to the distal end of the middle tube. The outer tubes are made fabricated by micromachining notches through the use of lasers which allows the robot to bend with the use of the tendon. It is among the world's smallest steerable robotic systems actuated by microtendons, with an overall outer diameter of 0.4 mm.{{Cite conference| doi = 10.1109/LRA.2020.3004782| conference = IEEE Robotics and Automation Letters| pages = 4947–4954| last1 = Jeong| first1 = S.| last2 = Chitalia| first2 = Y.| last3 = Desai| first3 = J.| title = Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot -| book-title = IEEE Robotics and Automation Letters| date = July 2020| pmc = 11343510}}

Myorobotics is a toolkit comprising muscles, tendons, joints, and bones to build diverse tendon-driven musculoskeletal robots, e.g. anthropomimetic arms{{Cite journal|url=https://ieeexplore.ieee.org/document/7553551/figures?part=1%7Cfig1#fig1|title=Musculoskeletal Robots: Scalability in Neural Control |journal=IEEE Robotics & Automation Magazine|date=2016 |doi=10.1109/MRA.2016.2535081 |last1=Richter |first1=Christoph |last2=Jentzsch |first2=Soren |last3=Hostettler |first3=Rafael |last4=Garrido |first4=Jesus A. |last5=Ros |first5=Eduardo |last6=Knoll |first6=Alois |last7=Rohrbein |first7=Florian |last8=Van Der Smagt |first8=Patrick |last9=Conradt |first9=Jorg |volume=23 |issue=4 |pages=128–137 |arxiv=1601.04862 }} with complex shoulder joints, quadrupeds,http://myorobotics.eu/myo-projects/myocheetah/ and hopping robots.http://myorobotics.eu/myo-projects/hopper/ Robots can be assembled, optimized, and simulated from primitives, then built and controlled either from the same software or from brain-like spiking neural networks simulated on a neuromorphic computer.{{Cite journal| doi = 10.1109/MRA.2016.2535081| issn = 1070-9932| volume = 23| issue = 4| pages = 128–137| last1 = Richter| first1 = C.| last2 = Jentzsch| first2 = S.| last3 = Hostettler| first3 = R.| last4 = Garrido| first4 = J. A.| last5 = Ros| first5 = E.| last6 = Knoll| first6 = A.| last7 = Rohrbein| first7 = F.| last8 = Smagt| first8 = P. van der| last9 = Conradt| first9 = J.P.| title = Musculoskeletal Robots: Scalability in Neural Control| journal = IEEE Robotics Automation Magazine| date = December 2016| arxiv = 1601.04862| s2cid = 15072613}}

{{main|ROBOY}}

Roboy is four feet tall and has two tendon-driven arms. Researchers announced plans to make Roboy's design open-source, allowing anyone with a 3-D printer to build and tinker with their own version.{{youTube|id=UYmOBpvSfMQ|title=ROBOY video}}

Kenshiro is a University of Tokyo robot announced in 2012. Kenshiro is somewhat larger than Roboy and includes 160 pulley-like muscles and aluminum bones that allow it to perform simple bends and poses.{{Cite conference| doi = 10.1109/IROS.2012.6386166| conference = 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems| pages = 3687–3692| last1 = Kozuki| first1 = T.| last2 = Mizoguchi| first2 = H.| last3 = Asano| first3 = Y.| last4 = Osada| first4 = M.| last5 = Shirai| first5 = T.| last6 = Junichi| first6 = U.| last7 = Nakanishi| first7 = Y.| last8 = Okada| first8 = K.| last9 = Inaba| first9 = M.| title = Design methodology for the thorax and shoulder of human mimetic musculoskeletal humanoid Kenshiro -a thorax structure with rib like surface -| book-title = 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems| date = October 2012}}

Bionic Robotics offered BioRob, a tendon-driven robotic arm for industrial use. It has a flexible mechanical structure that allows it to pick up heavy payloads even though it weighs much less than the conventional robotic arm that the company also makes. BioRob's light weight and flexible design is claimed to offer greater safety for use around human workers.

Caliper is a framework for the simulation of tendon-driven robots. It consists of a generic physics simulator capable of utilizing computer-aided design models and tools for simulation control, data acquisition and system investigation.{{Cite book | last1 = Wittmeier | first1 = S. | last2 = Jantsch | first2 = M. | last3 = Dalamagkidis | first3 = K. | last4 = Rickert | first4 = M. | last5 = Marques | first5 = H. G. | last6 = Knoll | first6 = A. | chapter = CALIPER: A universal robot simulation framework for tendon-driven robots | doi = 10.1109/IROS.2011.6094455 | title = 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems | pages = 1063 | year = 2011 | isbn = 978-1-61284-456-5 | s2cid = 2278435 | chapter-url = http://mediatum.ub.tum.de/node?id=1287210 | url = http://mediatum.ub.tum.de/doc/1287210/document.pdf }}

The Anatomically Correct Testbed robotic hand{{Cite journal|url=http://roboticsproceedings.org/rss08/p47.pdf|last1=Rombokas|first1=Eric|display-authors=et al.|title=Tendon-Driven Variable Impedance Control Using Reinforcement Learning|journal=Robotics Science and Systems|year=2013|page=369}} uses tendons and woven finger extensor hoods to capture the biomechanical properties of the human hand. The tendons slide over 3D printed bones matching human bone shapes, reproducing the variable moment arms and some of the tendon network interactions found in the human hand. The tendons are actuated by direct drive (without gearing), allowing them to spool out freely when other tendons oppose them in the skeleton.{{Cite web|url=https://reneu.robotics.utexas.edu/projects/anatomically-correct-testbed-act-hand|title=University of Texas at Austin, ReNeu Robotics Lab}}

• Atlas (robot)

{{Reflist}}

• {{cite web|url=http://homes.cs.washington.edu/~todorov/papers/RombokasICRA12.pdf |title=Tendon-Driven Control of Biomechanical and Robotic Systems: A Path Integral Reinforcement Learning Approach |first1=Eric |last1=Rombokas |first2=Evangelos |last2=Theodorou |first3=Mark |last3=Malhotra |first4=Emo |last4=Todorov |first5=Yoky |last5=Matsuoka |publisher=International Conference on Robotics and Automation, IEEE |pages=208–214 |year=2012}}
• {{Cite book | last1 = Cavallo | first1 = A. | last2 = De | first2 = G. | last3 = Natale | first3 = C. | last4 = Pirozzi | first4 = S. | chapter = Minimally Invasive Force Sensing for Tendon-driven Robots | doi = 10.5772/10311 | title = Cutting Edge Robotics 2010 | year = 2010 | isbn = 978-953-307-062-9 | s2cid = 17828737 }}
• {{Cite journal | last1 = He | first1 = C. | last2 = Wang | first2 = S. | last3 = Xing | first3 = Y. | last4 = Wang | first4 = X. | title = Kinematics analysis of the coupled tendon-driven robot based on the product-of-exponentials formula | doi = 10.1016/j.mechmachtheory.2012.10.002 | journal = Mechanism and Machine Theory | volume = 60 | pages = 90–111 | year = 2013 }}

Category:Humanoid robots