cableactuated
Cableactuated systems transmit actuation forces via cables or tendons that run from remote actuators to a moving mechanism. The cables are guided by pulleys, sheaths, or channels to control joints or flexible backbones. The term is often used interchangeably with tendon-driven or cable-driven actuation, and it enables remote actuation with minimal moving mass at the output.
Typical implementations include robotic hands or fingers with tendons anchored to joints, continuum or snake-like robots
Advantages include a favorable force-to-weight ratio when high-tensile cables are used, the ability to route actuators
Challenges involve cable elasticity, which introduces nonlinear, time-varying behavior and position error; wear and friction at
Materials include steel wire and advanced polymers such as Kevlar or Dyneema, used alone or in composite