SOURCE-LINKED INTELLIGENCE

Design and Control of a Cable-Driven Switchable Actuator with Torque/Tension Dual Modes for Exoskeletons

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Existing wearable exoskeleton architectures are typically constrained by a single mechanical output modality, providing either joint torque around an anatomical joint or linear traction along a limb-training-oriented direction, which limits adaptability to diverse training scenarios. This letter presents a cable-driven switchable actuator (CDSA) that can rapidly switch between torque and tension modes while centralizing all sensing and actuation components at the proximal drive unit. A Coupled Movable Pulley Mechanism (CMPM) provides tension amplification at the distal end-effector, while a bi

Read original source ↗ Open in workspace

recordType

paper

region

Global