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Review Article

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

[+] Author and Article Information
Svetlana Grosu

PhD Researcher, Department of MECH Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050-Ixelles, Brussels, Belgium and Flanders Make
sgrosu@vub.be

Laura De Rijcke

PhD Researcher, Department of MECH Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050-Ixelles, Brussels
laderi@hotmail.com

Victor Grosu

PhD Researcher, Department of MECH Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050-Ixelles, Brussels
vgrosu@vub.be

Joost Geeroms

Post-doctoral Researcher, Department of MECH Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050-Ixelles, Brussels
joost.geeroms@vub.be

Bram Vanderborght

Professors, Department of MECH Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050-Ixelles, Brussels
bram.vanderborght@vub.be

Dirk Lefeber

Professors, Department of MECH Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050-Ixelles, Brussels
dirk.lefeber@vub.be

Carlos Rodriguez-Guerrero

Post-doctoral Researcher, Department of MECH Engineering, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050-Ixelles, Brussels
carlos.rodriguez.guerrero@vub.be

1Corresponding author.

ASME doi:10.1115/1.4042399 History: Received April 01, 2018; Revised December 21, 2018

Abstract

Wearable robotics is a field with 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 one side powerful actuation is required, leading to considerable system weight. Additionally, due to the close physical interaction with a human and considering safety requirements, the displacement of the actuators is crucial to the operational efficiency and functionality of exoskeleton devices. One possible solution to achieve a functional and efficient wearable device is to relocate its actuators and transmit the power to the human by means of cable-based transmission systems. This paper presents an overview of cable-driven kinematics correlated to conventional mechanical designs and their implementation in the field of wearable robotics. An overview of exoskeleton devices using cable-based actuation approach is presented, as well as a functional comparison and trend analysis.

Copyright (c) 2018 by ASME
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