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Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T13A001, April 12–15, 2021
Paper No: DMD2021-1010
... with antagonistic tendon actuation. A general method for achieving a fixed motion scaling ratio in these types of systems is also presented. Kinematic simulations and prototyping demonstrate feasibility of this concept. laparoscopic instruments disposable instruments kirigami origami matched kinematic...