DC Motor + Cable Drive

Based on our actuation selection, a cable drive will be implemented on the exoskeleton to transmit the power from the motor to the elbow joint.  A cable drive system allows for non-localized actuation.  Other exoskeletons, such as HAL (image below), use localized motors for actuation.  With non-localized actuation, it is possible to increase the motor strength and decrease the weight at the joint extremities.

We’ll be investigating cables and sheathing to transmit the force from the back to the elbow joint.