Design of a Lightweight Modular Cable-Driven Actuator for Enhanced Versatility in Soft Wearable Robotics

This paper presents a cable-driven actuation module design that can be easily integrated into soft wearable robots to enhance their functional versatility. The actuation module is easily mountable to various wearable systems through a simple locking mechanism and customized electronics. Furthermore, the symmetrical design of the actuation module allows for multiple orientation options, significantly expanding its range of applications. Through the use of finite element analysis (FEA), we reduce the weight of the actuation module by selecting lightweight materials, without compromising its reliability and durability. The modular and lightweight characteristics of this actuator make it suited for integration into various wearable usages. We applied the modular actuator to the soft wearable lower-limb device and showed the effectiveness through metabolic cost and electromyography(EMG) signal measurements.