N+1

c. 2013

Demoing showing the 3 DOFs in a soft impedance control mode.

A demo of an earlier version of the 3 DOF (4 motor) system. This demo is showing the 3 DOFs in “zero torque” mode.

A closeup of the motor motors, gearing and drum for the rope. The drums were kept under tension with a clock spring and a one way jam clutch to keep the rope from going slack and popping off the pullies when control was disabled.

The wrist-sized setup (2 DOFs, 3 motors) utilized our “twisted string” transmission we developed a few years before.

A more complete example of how the forearm and wrist might be structured to be integrated on a robot platform.

The final prototype seen here controlled to only roll the output and perform soft impedance control on the pitch and yaw axes.