TDMA enables the 2.17 kg MuxArm to drive 10 kg loads at 1% end-effector accuracy even with partial servo failure by multiplexing actuators via hardware switching and a load-reducing trajectory planner.
Tendon-driven hyper- redundant manipulators: A review on design solutions,
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Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance
TDMA enables the 2.17 kg MuxArm to drive 10 kg loads at 1% end-effector accuracy even with partial servo failure by multiplexing actuators via hardware switching and a load-reducing trajectory planner.