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Design of a servomanipulator with tendon transmission

This paper describes a master-slave servomanipulator with a tendon transmission, which was designed to overcome the limited workspace of the conventional mechanical master-slave manipulators. The tendon transmission greatly reduces the weight and friction, and it also allows us to realize a zero-backlash reduction. However, it causes a motion coupling problem due to an unwanted motion interference at the joints. In this work, we solve this problem through a novel motion decoupling mechanism.