Tendon Actuator Force Monitoring via Dual Sensor Integration
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Solution Overview
Problem
Existing tendon actuation units lack efficient and reliable methods for monitoring and controlling tendon forces, leading to potential misalignment and reduced precision in mechanical systems.
Innovation Solution
The integration of on-line tension sensors and conduit force sensors within a tendon actuation unit, which measure tendon force directly and indirectly through compression forces, respectively, to provide redundant force measurements and improve control accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If tendon force monitoring is implemented using existing methods, then force measurement capability is provided, but measurement precision and control accuracy are insufficient
Solution Approach 1:
The patent applies local quality by implementing two distinct sensing methods at different locations: online tension sensors that directly contact the tendon to measure tension forces, and conduit force sensors that measure compression forces in the conduit. Each sensor type is optimized for its specific location and measurement purpose, providing localized precise measurements that together enable comprehensive force monitoring with high precision and reliability.
2Measurement precision
If redundant force measurement systems are integrated, then control accuracy is improved, but device complexity increases
Solution Approach 1:
The patent merges two different sensing approaches (tension sensing and compression sensing) into a single integrated tendon actuation system. The online tension sensors and conduit force sensors are combined within the same actuation unit, sharing common structural elements like the conduit and housing. This merging provides redundant force measurements for improved control accuracy while avoiding the complexity of completely separate sensing systems.
Solution Approach 2:
The conduit structure serves multiple functions: it guides the tendon, provides structural support, and acts as a measurement element for compression forces via the conduit force sensors. This multi-functionality reduces overall system complexity by eliminating the need for separate components for each function, while still providing redundant force measurement capabilities through both tension and compression sensing.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances force monitoring and control accuracy, ensuring precise tendon actuation and reducing the risk of misalignment in mechanical systems.
Implementation Method 1
on-line tension sensors that measure tendon force directly
Implementation Method 2
conduit force sensors that infer tendon force through conduit compression forces
Data Source
AI summary
A tendon actuator unit comprises a housing; a pulley disposed within the housing, the pulley comprising a screw-like groove about a predetermined portion of an outer surface of the pulley configured to accept a predetermined length of a cable; a motor disposed in or proximate to the housing and operatively in communication with the pulley; one or more online cable sensors; one or more sensor rollers; and one or more conduit force sensors.