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

arXiv:2609.23487 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-20 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-20

Updated: 2026-09-20

Terminology

• Accuracy — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Cable-Driven Ratchet Mechanism — 2× in this paper
• Calibration — 2× in this paper · explained in 7 episodes
• Closed-Loop Control — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• Coupled Movable Pulley Mechanism — 2× in this paper
• Hysteresis — 2× in this paper · explained in 3 episodes
• Iterative Learning Control — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes

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