用单电机通过开关机制控制拮抗缆绳，实现多自由度软外骨骼驱动。
Switch-based Independent Antagonist Actuation with a Single Motor for a Soft Exosuit
- 设计开关机制，用单电机切换控制一对拮抗缆绳。
- 切换时间需298.24毫秒，目前偏大但可优化。
- 适合追求轻量化多关节软外骨骼的研发者。
缆绳驱动的软外骨骼在多自由度（DoF）运动控制中面临机械结构挑战，通常需要两个执行器才能实现单一自由度的驱动，这不利于多关节外骨骼的开发。为减少执行器数量，本文提出一种基于开关的机制，可控制一对拮抗缆绳沿任意缆绳路径运动。实验表明，缆绳切换耗时298.24毫秒，该延迟虽相对较高，但可通过选用更优电机在未来降低。
原文摘要 · Abstract (English)
The use of a cable-driven soft exosuit poses challenges with regards to the mechanical design of the actuation system, particularly when used for actuation along multiple degrees of freedom (DoF). The simplest general solution requires the use of two actuators to be capable of inducing movement along one DoF. However, this solution is not practical for the development of multi-joint exosuits. Reducing the number of actuators is a critical need in multi-DoF exosuits. We propose a switch-based mechanism to control an antagonist pair of cables such that it can actuate along any cable path geometry. The results showed that 298.24ms was needed for switching between cables. While this latency is relatively large, it can reduced in the future by a better choice of the motor used for actuation.
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