Pulling Your Strings:
Cable Moment Arm Manipulation as a Method of Joint Actuation

BY JAMES S. SULZER,

MICHAEL A. PESHKIN,

AND JAMES L. PATTON

Recently, there has been an exciting array of new robotic devices especially designed for human-machine interaction. Consequently, a new field related to haptics has flourished: development of simple and often inexpensive devices that provide force feedback or positioning of a human operator as controlled by customized computer programs. One method, which seems to be less explored, is the use of cable actuators for such a robot.

Sulzer J, Patton J, Peshkin M, Pulling Your Strings: (2008) Cable Moment Arm Manipulation as a Method of Joint Actuation, IEEE Robotics and Automation Magazine, September, 2008.

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Digital Object Identifier 10.1109/MRA.2008.927692