Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-=actuator in exoskeleton-type training

J.F. Veneman, R. Ekkelenkamp, R. Kruidhof, F.C.T. van der Helm, Herman van der Kooij

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

113 Citations (Scopus)
738 Downloads (Pure)


Common actuators have important drawbacks for use in an exoskeleton type of rehabilitation (training) robot. Either the actuators are heavy, complex or poor torque sources. A new actuation system is proposed and tested that combines a lightweight joint and a simple structure with adequate torque source quality. It consists of a servomotor, a flexible Bowden cable transmission, and a force feedback loop based on a series elastic element. Measurements show that performance is sufficient for use in a gait rehabilitation robot.
Original languageUndefined
Title of host publicationProceedings of the 2005 IEEE
Number of pages4
ISBN (Print)9780780390034
Publication statusPublished - 26 Jun 2005
EventIEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005: Frontiers of the Human-Machine Interface - Rehabilitation Institute of Chicago (RIC), Chicago, United States
Duration: 28 Jun 20051 Jul 2005
Conference number: 9

Publication series



ConferenceIEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Abbreviated titleICORR
Country/TerritoryUnited States
Internet address


  • IR-52587
  • METIS-224219

Cite this