Page 446 - Flexible Robotics in Medicine
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440 Chapter 19
Figure 19.19
Experimental setup (left); slight damage after 1000 N compression test (right).
Figure 19.20
Compression test.
19.6.1.2 Cyclic deformation of tendon wires
To test the long-term durability of the wires, we conducted 100 cycles of tension and
relaxation of 150 N (Fig. 19.18). The value of 150 N was determined from the maximum
pull strength of 60 80 N from a human, including a safety factor of 2.
Over 100 cycles, the observed deformation of the medium wire is less than 0.2 mm, while
the small wire deforms is approximately 4.9 mm, which is significantly larger. Since the
