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8 January 2007 Development of a tendon driven system using a pneumatic balloon
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This paper is a study on a new type of a tendon system driven by a pneumatic balloon. It consists of a tendon and a silicon tube. Both ends of the silicon tube are closed and the tube expands like a balloon with the supply of air, which distends the silicon tube and pulls the tendon. Two types of actuation systems are considered. One is a high power system while the other a long stroke type. These two actuation systems have a difference in the mechanism of driving the tendon. In the high power system, the tendon is wound around the balloon. On the other hand, for the long stroke type, one end of the tendon is clamped near the balloon. The states of expansion are examined for both the high power type and the long stroke type. A cover is introduced to prevent the excessive expansion of the inflated balloon. The basic characteristics of the two tendon systems are discussed. A comparison with a human muscle is also presented.
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Rika Sato, Jun-ya Nagase, Norihiko Saga, and Seiji Chonan "Development of a tendon driven system using a pneumatic balloon", Proc. SPIE 6414, Smart Structures, Devices, and Systems III, 64141Y (8 January 2007);

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