Driving Robotic Exoskeletons using Cable-based Transmissions: A Qualitative Analysis and Overview

Svetlana Grosu, Laura De Rijke, Victor Grosu, Joost Geeroms, Bram Vanderborght, Dirk Lefeber, Carlos David Rodriguez Guerrero

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

Wearable robotics is a field receiving increasing attention from the scientific community. It has great potential to improve rehabilitation process or increase the human capabilities but faces a number of challenges. On the one side, powerful actuation is required, leading to considerable system weight. On the other side, due to the close physical interaction with a human and taking into consideration safety requirements, the displacement of the actuators is crucial to the operational efficiency and functionality of exoskeleton devices. One possible solution for the design of an operational and efficient wearable device is to relocate its actuators out of joints and transmit the force by means of cable-based transmission systems. This paper presents an overview of various cable-based configurations correlated to conventional mechanical designs and their implementation in exoskeleton’s structures and an overview of exoskeleton robots including comparison and trend analyses.
Original languageEnglish
Article number060801
Number of pages16
JournalASME Applied Mechanics Reviews
Volume70
Issue number6
DOIs
Publication statusPublished - Nov 2018

Keywords

  • cable-based actuation
  • cable drive
  • exoskeletons
  • cable transmission
  • off joint actuation
  • push pull cable

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