SYSTEM AND METHOD FOR APPLYING TENSION ON ROBOTICALLY ACTUATED TENDON

摘要

PROBLEM TO BE SOLVED: To achieve high tension by low electric power, in a wire drive.;SOLUTION: A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator and a motor controller. The actuator includes a drive screw and a motor, and is coupled with the proximal end of the tendon and configured to apply a tension on the tendon in response to an electrical current. The motor controller is electrically coupled with the actuator and configured to provide an electrical current with a first amplitude to the actuator until a stall tension is achieved on the tendon. The motor controller is also configured to provide a pulse current to the actuator following the achievement of the stall tension where the amplitude of the pulse current is greater than the first amplitude. The motor controller is further configured to return the motor to a steady state holding current following the conclusion of the pulse current.;COPYRIGHT: (C)2012,JPO&INPIT