Tension Dependent Twisted String Actuator Modelling and Efficacy Benchmarking in Force and Impedance Control

Authors: Christopher Herneth, Yi Cheng, Amartya Ganguly, Sami Haddadin

Published in: IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025

DOI: 10.1109/ICRA55743.2025.11127389

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If you want to cite this work, you can use the following BibTeX file:

@inproceedings{DBLP:conf/icra/HernethCGH25,
  author       = {Christopher Herneth and
                  Yi Cheng and
                  Amartya Ganguly and
                  Sami Haddadin},
  title        = {Tension Dependent Twisted String Actuator Modelling and Efficacy Benchmarking
                  in Force and Impedance Control},
  booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
                  2025, Atlanta, GA, USA, May 19-23, 2025},
  pages        = {5075--5081},
  publisher    = {{IEEE}},
  year         = {2025},
  url          = {https://doi.org/10.1109/ICRA55743.2025.11127389},
  doi          = {10.1109/ICRA55743.2025.11127389},
  timestamp    = {Wed, 01 Oct 2025 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/conf/icra/HernethCGH25.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}