This paper presents an overview of the current state-of-the-art in the design of tendon-driven manipulators. A special characteristic associated with tendon-driven manipulators is that tendons can only exert tension but not compression. Based on this unique characteristic, the fundamental mechanics associated with the design of tendon-driven manipulators are reviewed. The review includes structure classification, kinematics, statics, dynamics and control.

Issue Section:
Research Papers
Topics:
Design, Manipulators, Tendons, Compression, Dynamics (Mechanics), Kinematics, Statics, Tension
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