CPA-Wrist: Compliant pneumatic actuation for antagonistic tendon driven wrists

Alexander Toedtheide, Sami Haddadin

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


In this letter, we propose a new compliant robotics wrist design concept. The system is tendon driven, pneumatically actuated and impedance controlled. We show simulative and experimental results for orientation-based impedance control, human robot interaction with deflection, and collision as well as zero gravity control. Large range point-to-point movements can be performed within 0.5 s and the system stabilizes itself within 0.4 s after external large deflective contacts. Maximum achieved task stiffness are 15 N m/rad and 0.5 N m/rad in simulation and experiment, respectively.

Original languageEnglish
Article number8408565
Pages (from-to)3537-3544
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
StatePublished - Oct 2018


  • Compliance and impedance control
  • hydrau-lic/pneumatic actuators
  • tendon/wire


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