An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control

This paper presents a novel 2 degrees of freedom humanoid wrist with solely three tendons, based on an integrated 3S$\overline{P}$S-1U parallel kinematics (the $\overline{P}$ indicates the active degree of freedom) and driven by three electromechanical motors. Tendon-force measurement and control, combined with nonlinear kinematics mapping enable the implementation of a oint-level impedance contro...