{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/incorporating-general-contact-surfaces-in-the","title":"Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms","arxiv_id":"2409.00616","date":"2024-09-01","proceeding":null,"authors":["Junhyoung Ha","Chaewon Kim","Chunwoo Kim"],"abstract":"This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient iterative algorithms to solve for both tendon force actuation and tendon displacement actuation. The configuration predictions of the kinematics were experimentally validated using a prototype mechanism. Our MATLAB implementation of the proposed kinematic is available at https://github.com/hjhdog1/RollingJoint.","url_abs":"https://arxiv.org/abs/2409.00616v1","url_pdf":"https://arxiv.org/pdf/2409.00616v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"incorporating-general-contact-surfaces-in-the","repo_url":"https://github.com/hjhdog1/rollingjoint","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}