Single Actuator with Versatile Controllability of 2-DOF Assistance for Exosuits via a Novel Moving-Gear Mechanism

Decreasing the system weight while maintaining assistance performance can help reduce metabolic penalty in exosuits. Various researchers have proposed a bi-directional cable-driven actuator that provide two degrees of freedom (2-DOF) by using single motor. However, such systems face limitations associated with controllability force. This study proposes novel system, is, dual pulley drive, versatile 2-DOF cable actuation motor via moving gear mechanism. The winds switching both side pulleys, which are then used for actuation. spiral springs embedded between and base shaft work to release cable. Results experiments demonstrate drive provides range motion. 34.1% overlapping motion per round trip time support non-overlapping preliminary integration exosuit confirms is considerably lighter than state-of-the-art exosuit. calculations indicate operating speed force generated design higher existing