Preprint Open access
Design and Control of a Cable-Driven Switchable Actuator with Torque/Tension Dual Modes for Exoskeletons
Existing wearable exoskeleton architectures are typically constrained by a single mechanical output modality, providing either joint torque around an anatomical joint or linear traction along a limb-training-oriented direction, which limits adaptability to diverse training scenarios. This letter presents a cable-driven …