CONTINUOUS-DUTY TENDON LIFETIME ARCHITECTURE v1.0 UHMWPE Transmission for Palm-Actuated Humanoid Hands: Creep, Fatigue, Thermal Drift, and Retensioning-Free Operation Under Industrial Load

Zenodo (CERN European Organization for Nuclear Research) 2026 Preprint Open access

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Authors: Thomas S. Mitchell
DOI: 10.5281/zenodo.18665440
Cited by: 0

Abstract

This technical report defines a continuous-duty tendon transmission architecture for humanoid hands and a garage-replicable validation protocol for lifetime, creep, fatigue, and thermal drift. Using UHMWPE as an industrial baseline, the work establishes explicit TRL pass/fail criteria: ≥10⁷ actuation cycles,

Fields of Study & Subjects

Soft Robotics and Applications Robotic Mechanisms and Dynamics Prosthetics and Rehabilitation Robotics

Publication details

Journal / source
Zenodo (CERN European Organization for Nuclear Research)
Publication date
17 February 2026
Language
EN
Document type
Preprint