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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2501.08469 |
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| _version_ | 1866917447896924160 |
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| author | Amish, Timothy E. Auletta, Jeffrey T. Kessens, Chad C. Smith, Joshua R. Lipton, Jeffrey I. |
| author_facet | Amish, Timothy E. Auletta, Jeffrey T. Kessens, Chad C. Smith, Joshua R. Lipton, Jeffrey I. |
| contents | Robotic systems with many degrees of freedom (DoF) are constrained by the demands of dedicating a motor to each joint, and while mechanical multiplexing reduces actuator count, existing clutch designs are bulky, force-limited, or restricted to one output at a time. The problem addressed in this study is how to achieve high-force multiplexing that supports both simultaneous and sequential control from a single motor. Here we show an electrostatic capstan clutch-based transmission that enables both single-input-single-output (SISO) and single-input-multiple-output (SIMO) multiplexing. We demonstrated these on a four-DoF tendon-driven robotic hand where a single motor achieved output forces of up to 212 N, increased vertical grip strength by 4.09 times, and raised horizontal carrying capacity to 111.2 N, the highest currently among five-fingered tendon-driven robotic hands. These results demonstrate that electrostatic-based multiplexing provides versatile actuation, overcoming the limitations of prior systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_08469 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Electrostatic Clutch-Based Mechanical Multiplexer with Increased Force Capability Amish, Timothy E. Auletta, Jeffrey T. Kessens, Chad C. Smith, Joshua R. Lipton, Jeffrey I. Robotics Systems and Control Robotic systems with many degrees of freedom (DoF) are constrained by the demands of dedicating a motor to each joint, and while mechanical multiplexing reduces actuator count, existing clutch designs are bulky, force-limited, or restricted to one output at a time. The problem addressed in this study is how to achieve high-force multiplexing that supports both simultaneous and sequential control from a single motor. Here we show an electrostatic capstan clutch-based transmission that enables both single-input-single-output (SISO) and single-input-multiple-output (SIMO) multiplexing. We demonstrated these on a four-DoF tendon-driven robotic hand where a single motor achieved output forces of up to 212 N, increased vertical grip strength by 4.09 times, and raised horizontal carrying capacity to 111.2 N, the highest currently among five-fingered tendon-driven robotic hands. These results demonstrate that electrostatic-based multiplexing provides versatile actuation, overcoming the limitations of prior systems. |
| title | Electrostatic Clutch-Based Mechanical Multiplexer with Increased Force Capability |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2501.08469 |