摘要Tendon-driven robots have distinct advantages in high-dynamic performance motion and high-degree-of-freedom manipu-lation.However,these robots face challenges related to control complexity,intricate tendon drive paths,and tendon slack-ness.In this study,the authors present a novel modular tendon-driven actuator design that integrates a series elastic ele-ment.The actuator incorporates a unique magnetic position sensing technology that enables observation of the length and tension of the tendon and features an exceptionally compact design.The modular architecture of the tendon-driven actua-tor addresses the complexity of tendon drive paths,while the tension observation functionality mitigates slackness issues.The design and modeling of the actuator are described in this paper,and a series of tests are conducted to validate the simulation model and to test the performance of the proposed actuator.The model can be used for training robot control neural networks based on simulation,thereby overcoming the challenges associated with controlling tendon-driven robots.