A High-Performance Cable-Drive Module for the Development of Wearable Devices
| Autor: | Jiun-Yih Kuan, Kenneth Pasch, Hugh M. Herr |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.product_category Computer science business.industry ComputerSystemsOrganization_COMPUTER-COMMUNICATIONNETWORKS 020208 electrical & electronic engineering Electrical engineering Wearable computer Bowden cable 02 engineering and technology Modular design Computer Science Applications Pulley law.invention 020901 industrial engineering & automation Transmission (telecommunications) Control and Systems Engineering law 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering business Backlash Wearable technology Rope |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 23:1238-1248 |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2018.2822764 |
| Popis: | Bowden cables are frequently used as remote transmissions on wearable devices because of their light weight, simplicity, and flexibility of design. However, a Bowden cable suffers from inefficiency, nonlinear backlash, and cable tension variation due to the bending of the cable housing and friction losses, leading to deteriorating force control performance, and a wearers comfort level and augmentation effectiveness. In this paper, to enhance wearable device performance and to overcome the above drawbacks, we propose a novel high-performance, cable-drive module with rolling cable transmissions (RoCT) that can efficiently transmit motion and mechanical power from an input to an output via an inner cable/rope. The RoCT is compact, modular, lightweight, extremely stiff, highly backdrivable, and is freely rotatable and translatable during manipulation. It maintains the cable tension regardless of the transmission angle between the input and output. The configuration of the proposed tethered cable-drive module, the working principle of the rolling cable transmission, and its properties, are introduced. Mechanical designs based on the working principle are also provided. Finally, as one of the applications of the proposed module, a tethered ankle exoskeleton system and its experimental results demonstrating the properties of the proposed transmission are presented. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|