Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

1. 서 론
 2. 줄 꼬임 구동기를 적용한 길항적로 봇 관절 시스템
  2.1 로봇 설계
  2.2 로봇 제어 시스템
 3. 줄 꼬임 구동기의 기구학적 모델
  3.1 기존의 줄 꼬임 구동기의 기구학적 모델
  3.2 축소 반지름 모델의 기구학 모델에 적용
  3.3 기존의 줄 꼬임 구동기의 감속 모델
  3.4 축소 반지름 모델의 감속 모델에 적용
 4. 줄 꼬임 구동기의 탄성 특징
  4.1 줄 꼬임 구동기 자체 탄성 유도
  4.2 줄 꼬임 구동기 자체 탄성 실험
 5. 결 론
 References

• 박지혁(Mechanical Engineering, Korea Advanced Institute of Science and Technology) | Jihyuk Park
• 김경수(Mechanical Engineering, Korea Advanced Institute of Science and Technology) | Kyung-Soo Kim
• 김수현(Mechanical Engineering, Korea Advanced Institute of Science and Technology) | Soohyun Kim Corresponding author