A hybrid control strategy for force and precise end effector positioning of a twisted string actuator

We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show that measuring the axial force at the base of the actuator, we can effectively estimate and compensate the coupling torque between the motor and the external load. Then, compensation of the coupling torque allows formulating a linear control law to control the angular position of the actuator and, at the same time, implement an external control loop to regulate the force applied by the actuator. Simulated and experimental results validate the proposed original control scheme. Furthermore we highlight the contributions of this work in the broader context of control of twisted string actuators.