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Musculoskeletal Robots and Wearable Devices on the Basis of Cable-driven Actuators

 
: Hägele, Martin; Maufroy, Christophe; Kraus, Werner; Siee, Maik; Breuninger, Jannis

:

Verl, Alexander (Ed.); Albu-Schäffer, Alin (Ed.); Brock, Oliver (Ed.); Raatz, Annika (Ed.); Jacobi, Hans-Friedrich (Mitarb.):
Soft Robotics : Transferring Theory to Application
Berlin: Springer, 2015
ISBN: 978-3-662-44505-1 (Print)
ISBN: 978-3-662-44506-8 (Online)
DOI: 10.1007/978-3-662-44506-8
pp.42-53
European Commission EC
FP7-ICT; 288219; MYOROBOTICS
English
Book Article
Fraunhofer IPA ()
soft robotics; cable-driven parallel actuator; cable-driven parallel robot; kinematics; parallel kinematic machines (PKM); Seilroboter; actuator; Kinematik

Abstract
Cable-driven actuators are a promising alternative for future kinematic designs, particularly when the combination of lightweight, high strength, compact designs and dynamic motions are required. Powered exoskeletons or wearable robots are typical candidates of these novel actuators as has been demonstrated by previous research. This chapter focusses on current work in cable-driven actuators, introduces the Myorobotics toolkit for supporting the engineer to build up prototypes from cable-actuates modules and gives an outlook to using cable-driven actuation for advanced wearable robots.

: http://publica.fraunhofer.de/documents/N-349870.html