Tendons driven actuating system with indirect measurement of the effects chordal tensioning

摘要

A humanoid robot contains a robot hand with at least one finger. An actuation system for the robot finger comprises a an actuator arrangement, which is supported by the robot and is spaced apart from the finger. A chord extends from the actuating member arrangement to the at least one finger and ends in a tendons termination. The actuating member arrangement serves for the actuation of the chord, in order to the chords termination and thus to move the fingers.