Performance difference of Bowden Cable relocated and non-relocated master actuators in virtual environment applications

@article{Schiele2008PerformanceDO,
  title={Performance difference of Bowden Cable relocated and non-relocated master actuators in virtual environment applications},
  author={Andre Schiele},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={3507-3512}
}
It is the goal of this paper to present performance differences between a Direct Drive master actuator (DD) and a Bowden Cable relocated master actuator (BCD) in a typical force-feedback tele-manipulation experiment with a virtual slave. The BCD actuator is a candidate actuator for implementation in a wearable exoskeleton, in order to reduce mass and inertia on each joint of the movable structure. The BCD performance matches the one of the DD in terms of torque and position tracking in a 4… CONTINUE READING

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