Visiting Researcher

Oct 20, 2019
Video
IRIM Lab Members

Design of Constant Length Tendon Routing Mechanism through Axial Joint

This research project was a part of the period-abroad during the PhD, from July to October 2019. It was achieved in collaboration with the Interactive Robotics and Innovative Mechanism (IRIM) Lab at Korea University of Technology and Education (KOREATECH) in Cheonan, South Korea. The project involved concept design and prototyping of a constant length tendon routing mechanism through axial joint, or the pronation-supination (forearm) joint per se, for multiple tendons achieving decoupled motions.

Supervisors

  • Yong-Jae Kim; Associate Professor, IRIM Lab, KOREATECH
humanoids computer-aided design rapid prototyping tendon-driven mechanisms bio-inspired manipulators
Divya Shah, Ph.D.
Divya Shah, Ph.D.
Postdoctoral Reseracher in Robot Design & Development

My research interests include humanoid robots, mechatronics, design & development, mechanism theory, parallel kinematics and additive manufacturing.

Publications

Design of Wrist and Forearm Mechanisms for Enhanced Humanoid Dexterity
The evolution in humanoid robots, aiming for extensive human-robot co-existence and collaboration, calls for an enhancement in the …
Divya Shah, Ph.D.
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Constant Length Tendon Routing Mechanism through Axial Joint
Tendon-driven mechanisms are gaining popularity in developing light weight, backdrivable robots for widespread use in safe human-robot …
Divya Shah, Ph.D., Alberto Parmiggiani, Yong-Jae Kim
Cite Project Video DOI Web
Constant Length Tendon Routing Mechanism through Axial Joint