W. Jared Walker

Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion

Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However, the stiffness-enabling pressure preloads can form a tradeoff a…